View source for Variational Principles in Constrained Systems: Theory and Experiments

{{HTDB paper
| authors = Andrew D. Lewis and Richard M. Murray
| title = Variational Principles in Constrained Systems: Theory and Experiments
| source = <i>International Journal of Nonlinear Mechanics</i>, 30(6): 793-815, 1995<br>
CDS Technical Report 94-016
| year = 1994
| type = Technical
Report
| funding = 
| url = http://www.cds.caltech.edu/~murray/preprints/cds94-016.pdf
| 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. 
| flags = NoRequest
| tag = lm94-cds
| id = 1994o
}}