Jorge Cortés
Professor
Cymer Corporation Endowed Chair
The geometric theory of constraints applied to the dynamics of
vakonomic mechanical systems. The vakonomic bracket
S. Martínez,
J. Cortés, M. de León
Journal of Mathematical Physics 41 (2000),
2090-2120
Abstract
A vakonomic mechanical system can be alternatively described by an
extended lagrangian using the Lagrange multipliers as new variables.
Since this extended lagrangian is singular, the constraint algorithm
can be applied and a Dirac bracket giving the evolution of the
observables can be constructed.
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Mechanical and Aerospace Engineering,
University of California, San Diego
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