On the Hamiltonian formulation of nonholonomic mechanical systems

Arjan van der Schaft; B.M. Maschke

doi:10.1016/0034-4877(94)90038-8

On the Hamiltonian formulation of nonholonomic mechanical systems

Arjan van der Schaft, B.M. Maschke

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Abstract

A simple procedure is provided to write the equations of motion of mechanical systems with constraints as Hamiltonian equations with respect to a ¿Poisson¿ bracket on the constrained state space, which does not necessarily satisfy the Jacobi identity. It is shown that the Jacobi identity is satisfied if and only if the constraints are holonomic.

Original language	Undefined
Pages (from-to)	225-233
Number of pages	9
Journal	Reports on mathematical physics
Volume	34
Issue number	2
DOIs	https://doi.org/10.1016/0034-4877(94)90038-8
Publication status	Published - 1994

Keywords

METIS-140815
IR-30175

Access to Document

10.1016/0034-4877(94)90038-8

Schaft94hamiltonian

Cite this

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title = "On the Hamiltonian formulation of nonholonomic mechanical systems",

abstract = "A simple procedure is provided to write the equations of motion of mechanical systems with constraints as Hamiltonian equations with respect to a ¿Poisson¿ bracket on the constrained state space, which does not necessarily satisfy the Jacobi identity. It is shown that the Jacobi identity is satisfied if and only if the constraints are holonomic.",

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AU - van der Schaft, Arjan

AU - Maschke, B.M.

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AB - A simple procedure is provided to write the equations of motion of mechanical systems with constraints as Hamiltonian equations with respect to a ¿Poisson¿ bracket on the constrained state space, which does not necessarily satisfy the Jacobi identity. It is shown that the Jacobi identity is satisfied if and only if the constraints are holonomic.

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KW - IR-30175

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DO - 10.1016/0034-4877(94)90038-8

M3 - Article

SN - 0034-4877

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JO - Reports on mathematical physics

JF - Reports on mathematical physics

IS - 2

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