REDUCTION OF INVARIANT CONSTRAINED SYSTEMS USING ANHOLONOMIC FRAMES

摘要

We analyze two reduction methods for nonholonomic systems that are invariant under the action of a Lie group on the con guration space. Our approach for obtaining the reduced equations is entirely based on the observationthat the dynamics can be represented by a second-order dierential equations vector eld and that in both cases the reduced dynamics can be described by expressing that vector eld in terms of an appropriately chosen anholonomic frame.