Towards a Hamilton–Jacobi theory for nonholonomic mechanical systems

David Iglesias-Ponte, Manuel de León, David Martín de Diego
2007 Journal of Physics A: Mathematical and Theoretical  
In this paper we obtain a Hamilton-Jacobi theory for nonholonomic mechanical systems. The results are applied to a large class of nonholonomic mechanical systems, the so-calledČaplygin systems. 2000 Mathematics Subject Classification. 70H20, 37J60, 70F25.
doi:10.1088/1751-8113/41/1/015205 fatcat:zz2b4xu2ynhe7l2n2wu5mutuom