Exact invariants and adiabatic invariants of Raitzin's canonical equations of motion for a nonlinear nonholonomic mechanical system
乔永芬, 李仁杰, 孙丹娜
Exact invariants and adiabatic invariants of Raitzin's canonical equations of motion for a nonlinear nonholonomic mechanical system
Qiao Yong-Fen (乔永芬), Li Ren-Jie (李仁杰), Sun Dan-Na (孙丹娜)
中国物理B . 2005, (10): 1919 -1925 .  DOI: 10.1088/1009-1963/14/10/001