Abstract
In this chapter we develop and summarize some basic concepts in the geometric mechanics of holonomic systems (see Chapter 1), which provide background for parts of the rest of this book. Readers well versed in this material may omit part or all of it. Parts of the rest of the book can be read without this material, so the reader can return to it as the need arises.
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References
See Marsden [1981] and Olver [1988] for a discussion of the infinite-dimensional case.
This follows from the fact that λ and ρ are momentum maps; see Marsden and Ratiu [1999].
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© 2003 Springer-Verlag New York, Inc.
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Bloch, A.M. (2003). Basic Concepts in Geometric Mechanics. In: Nonholonomic Mechanics and Control. Interdisciplinary Applied Mathematics, vol 24. Springer, New York, NY. https://doi.org/10.1007/b97376_3
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DOI: https://doi.org/10.1007/b97376_3
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4419-3043-9
Online ISBN: 978-0-387-21644-7
eBook Packages: Springer Book Archive