Jorge Cortés

Professor





The geometric theory of constraints applied to the dynamics of vakonomic mechanical systems. The vakonomic bracket
S. Martínez, J. Cortés, M. de León
Journal of Mathematical Physics 41 (2000), 2090-2120


Abstract

A vakonomic mechanical system can be alternatively described by an extended lagrangian using the Lagrange multipliers as new variables. Since this extended lagrangian is singular, the constraint algorithm can be applied and a Dirac bracket giving the evolution of the observables can be constructed.

pdf   |   ps.gz

Mechanical and Aerospace Engineering, University of California, San Diego
9500 Gilman Dr, La Jolla, California, 92093-0411

Ph: 1-858-822-7930
Fax: 1-858-822-3107

cortes at ucsd.edu
Skype id: jorgilliyo