CANONICAL FORMULATION OF NONHOLONOMIC CONSTRAINED SYSTEMS

摘要

Based on the Ehresmann connection theory and symplectic geometry, the canonical formulation of nonholonomicrnconstrained mechanical systems is described. Following the Lagrangian formulation of the constrained system, thernHamiltonian formulation is given by Legendre transformation. The Poisson bracket defined by an anti-symmetric tensorrndoes not satisfy the Jacobi identity for the nonintegrability of nonholonomic constraints. The constraint manifold canrnadmit symplectic submanifold for some cases, in which the Lie algebraic structure exists.