A geometrical approach to lagrangian and hamiltonian non-holonomic dynamics is proposed. The construction relies on a revisitation of the Poincaré-Cartan 1-form, leading to the introduction of the concepts of lagrangian and hamiltonian pairs and to the implementation of a non--holonomic Legendre map. The relationship with the standard "extrinsic" approach is outlined. A unified canonical framework, joining both lagrangian and hamiltonian aspects is proposed.
Non-holonomic Lagrangian and Hamiltonian Mechanics: an intrinsic approach
MASSA, ENRICO;VIGNOLO, STEFANO;
2002-01-01
Abstract
A geometrical approach to lagrangian and hamiltonian non-holonomic dynamics is proposed. The construction relies on a revisitation of the Poincaré-Cartan 1-form, leading to the introduction of the concepts of lagrangian and hamiltonian pairs and to the implementation of a non--holonomic Legendre map. The relationship with the standard "extrinsic" approach is outlined. A unified canonical framework, joining both lagrangian and hamiltonian aspects is proposed.
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