Search results for: Jerrold E. Marsden
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Nonholonomic Mechanical Systems with Symmetry
Archive for Rational Mechanics and Analysis > 1996 > 136 > 1 > 21-99
This work develops the geometry and dynamics of mechanical systems with nonholonomic constraints and symmetry from the perspective of Lagrangian mechanics and with a view to control-theoretical applications. The basic methodology is that of geometric mechanics applied to the Lagrange-dAlembert formulation, generalizing the use of connections and momentum maps associated with a given symmetry group...
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