Variational principles for constrained systems: theory and experiment
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Authors
Lewis, Andrew D.
Murray, Richard M.
Date
1994
Type
Language
en_US
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Alternative Title
Abstract
In this paper we present two methods, the nonholonomic method and the
vakonomic method, for deriving equations of motion for a
mechanical system with constraints. The resulting equations are compared.
Results are also presented from an experiment for a model system: a ball
rolling without sliding on a rotating table. Both sets of equations of
motion for the model system are compared with the experimental results. The
effects of various forms of friction are considered in the nonholonomic
equations. With appropriate friction terms, the nonholonomic equations of
motion for the model system give reasonable agreement with the experimental
observations.
Description
Citation
International Journal of Nonlinear Mechanics
30(6), pages 793-815, 1995