REDUCTION OF SOME CLASSICAL NONHOLONOMIC SYSTEMS WITH SYMMETRY

被引：173
作者：
KOILLER, J
机构：
[1] Laboratório Nacional de Computação Científica, Rio de Janeiro, 22290
来源：
ARCHIVE FOR RATIONAL MECHANICS AND ANALYSIS | 1992年 / 118卷 / 02期
关键词：
D O I：
10.1007/BF00375092
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
Two types of nonholonomic systems with symmetry are treated: (i) the configuration space is a total space of a G-principal bundle and the constraints are given by a connection; (ii) the configuration space is G itself and the constraints are given by left-invariant forms. The proofs are based on the method of quasicoordinates. In passing, a derivation of the Maurer-Cartan equations for Lie groups is obtained. Simple examples are given to illustrate the algorithmical character of the main results.
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页码：113 / 148
页数：36
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