Variational Principles for Constrained Systems: Theory and Experiment

Lewis, Andrew D. and Murray, Richard M. (1994) Variational Principles for Constrained Systems: Theory and Experiment. Technical Report. California Institute of Technology. [CaltechCDSTR:1994.CIT-CDS-94-016]

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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.

EPrint Type:	Monograph (Technical Report)
Subjects:	All Records
ID Code:	21
Deposited By:	Richard M. Murray
Deposited On:	18 October 2002
Unique Identifier:	CaltechCDSTR:1994.CIT-CDS-94-016
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:1994.CIT-CDS-94-016
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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