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Chinese Physics, 2001, Vol. 10(1): 1-6    DOI: 10.1088/1009-1963/10/1/301
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CANONICAL FORMULATION OF NONHOLONOMIC CONSTRAINED SYSTEMS

Guo Yong-xin (郭永新)a, Yu Ying (于莹)b, Huang Hai-jun (黄海军)a
a Department of Physics, Liaoning University, Shenyang 110036, China; b School of Science, Shenyang University of Technology, Shenyang 110023, China
Abstract  Based on the Ehresmann connection theory and symplectic geometry, the canonical formulation of nonholonomic constrained mechanical systems is described. Following the Lagrangian formulation of the constrained system, the Hamiltonian formulation is given by Legendre transformation. The Poisson bracket defined by an anti-symmetric tensor does not satisfy the Jacobi identity for the nonintegrability of nonholonomic constraints. The constraint manifold can admit symplectic submanifold for some cases, in which the Lie algebraic structure exists.
Keywords:  nonholonomic constraints      canonical formulation      Ehresmann connection      symplectic submanifold  
Received:  21 May 2000      Revised:  16 June 2000      Accepted manuscript online: 
PACS:  02.10.De (Algebraic structures and number theory)  
  02.30.Zz (Inverse problems)  
  02.40.Vh (Global analysis and analysis on manifolds)  
Fund: Project supported by the Science Rearch Foundation of Liaoning Educational Commitee, China (Grant No. 990111004).

Cite this article: 

Guo Yong-xin (郭永新), Yu Ying (于莹), Huang Hai-jun (黄海军) CANONICAL FORMULATION OF NONHOLONOMIC CONSTRAINED SYSTEMS 2001 Chinese Physics 10 1

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