CANONICAL FORMULATION OF NONHOLONOMIC CONSTRAINED SYSTEMS

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.