{
  "id": "math/0006183",
  "version": "v1",
  "published": "2000-06-24T15:52:13.000Z",
  "updated": "2000-06-24T15:52:13.000Z",
  "title": "Geometric description of vakonomic and nonholonomic dynamics. Comparison of solutions",
  "authors": [
    "Jorge Cortes",
    "Manuel de Leon",
    "David Martin de Diego",
    "Sonia Martinez"
  ],
  "comment": "34 pages",
  "journal": "SIAM J Control Optim 41 (5) (2003), 1389-1412",
  "categories": [
    "math.DG",
    "math.OC",
    "math.SG"
  ],
  "abstract": "We treat the vakonomic dynamics with general constraints within a new geometric framework which will be appropriate to study optimal control problems. We compare our formulation with Vershik-Gershkovich one in the case of linear constraints. We show how nonholonomic mechanics also admits a new geometrical description wich enables us to develop an algorithm of comparison between the solutions of both dynamics. Some examples illustrating the theory are treated.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2000-06-24T15:52:13.000Z"
    }
  ],
  "analyses": {
    "subjects": [
      "34A26",
      "49K15",
      "70F25"
    ],
    "keywords": [
      "nonholonomic dynamics",
      "geometric description",
      "comparison",
      "study optimal control problems",
      "geometrical description wich enables"
    ],
    "tags": [
      "journal article"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 34,
      "language": "en",
      "license": "arXiv",
      "status": "editable",
      "adsabs": "2000math......6183C"
    }
  }
}