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arXiv · 2510.24492

Variational problem and Hamiltonian formulation of the Lagrange-d'Alembert equations with nonlinear nonholonomic constraints

Alexei A. Deriglazov
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Abstract

Any given system of ordinary differential equations in $n$-dimensional configuration space can be obtained from a peculiar variational problem with one local symmetry. The obtained action functional leads to the Hamiltonian formulation in $(4n+2)$-dimensional phase space. As concrete examples, we discuss the cases of Lagrange-d'Alembert equations with nonlinear nonholonomic constraints, as well as the equations of motion with dissipative (frictional) forces.

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Alexei A. Deriglazov. 2025-10-28. Variational problem and Hamiltonian formulation of the Lagrange-d'Alembert equations with nonlinear nonholonomic constraints. https://arxiv.org/abs/2510.24492

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