Lagrange equations of nonholonomic systems with fractional derivatives

This paper obtains Lagrange equations of nonholonomic systems with fractional derivatives. First, the exchanging relationships between the isochronous variation and the fractional derivatives are derived. Secondly, based on these exchanging relationships, the Hamilton's principle is presented for non-conservative systems with fractional derivatives. Thirdly, Lagrange equations of the systems are obtained. Furthermore, the d'Alembert–Lagrange principle with fractional derivatives is presented, and the Lagrange equations of nonholonomic systems with fractional derivatives are studied. An example is designed to illustrate these results.