Geodesic
Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 72 (2017) no. 5, pp. 783-840

Voir la notice de l'article provenant de la source Math-Net.Ru

This is a survey of the main forms of equations of dynamical systems with non-integrable constraints, divided into two large groups. The first group contains systems arising in vakonomic mechanics and optimal control theory, with the equations of motion obtained from the variational principle, and the second contains systems in classical non-holonomic mechanics, when the constraints are ideal and therefore the D'Alembert–Lagrange principle holds. Bibliography: 134 titles.
Keywords: non-integrable constraints, vakonomic mechanics, optimal control theory, sub-Riemannian geometry, non-holonomic mechanics, invariant measure. 
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A. V. Borisov; I. S. Mamaev; I. A. Bizyaev. Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Tome 72 (2017) no. 5, pp. 783-840. http://geodesic.mathdoc.fr/item/RM_2017_72_5_a0/