Nonholonomic mechanical systems with symmetry

DOI10.1007/BF02199365zbMath0886.70014OpenAlexW2055315817MaRDI QIDQ2365370

Jerrold E. Marsden, Richard M. Murray, P. S. Krishnaprasad, Anthony M. Bloch

Publication date: 10 May 1998

Published in: Archive for Rational Mechanics and Analysis (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/bf02199365

zbMATH Keywords

conservation lawscurvaturemomentum equationmomentum mapsEhresmann connectionsnakeboardnonholonomic connectionsparallel transport operatorsLagrange-d'Alembert formulationvertical disk rolling on plane

Mathematics Subject Classification ID

Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Nonholonomic systems related to the dynamics of a system of particles (70F25) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Lagrange's equations (70H03)

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