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Classical framework for nonholonomic mechanical control systems |
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| Authors: | Joachim Steigenberger |
| Abstract: | With this paper we recall some of the formal framework developed in classical analytical mechanics with emphasis on constrained systems. It can be used in describing nonholonomic control systems and serve as a starting point for further differential-geometric investigations. |
| Keywords: | nonholonomic control systems constrained Lagrangian and Hamiltonian systems anholonomic frames |