Contact Hamiltonian and Lagrangian systems with nonholonomic constraints
In this article we develop a theory of contact systems with nonholonomic constraints. We obtain the dynamics from Herglotz's variational principle, by restricting the variations so that they satisfy the nonholonomic constraints. We prove that the nonholonomic dynamics can be obtained as a proje...
| Authors: | , , |
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| Format: | article |
| Publication Date: | 2021 |
| Country: | España |
| Institution: | Universidad Nacional de Educación a Distancia |
| Repository: | e-spacio. Repositorio Institucional de la UNED |
| Language: | English |
| OAI Identifier: | oai:e-spacio.uned.es:20.500.14468/12559 |
| Online Access: | https://hdl.handle.net/20.500.14468/12559 |
| Access Level: | Open access |
| Keyword: | Nonholonomic constraints contact Hamiltonian systems Herglotz principle dissipative systems nonholonomic mechanics Jacobi nonholonomic bracket |
| Summary: | In this article we develop a theory of contact systems with nonholonomic constraints. We obtain the dynamics from Herglotz's variational principle, by restricting the variations so that they satisfy the nonholonomic constraints. We prove that the nonholonomic dynamics can be obtained as a projection of the unconstrained Hamiltonian vector field. Finally, we construct the nonholonomic bracket, which is an almost Jacobi bracket on the space of observables and provides the nonholonomic dynamics. |
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