Solving high order nonholonomic systems using Gibbs-Appell method

Abstract

In this paper we present a new formulation, based on Gibbs- Appell method, for solving a large group of high order nonholonomic con- strained systems. High order nonholonomic constraints (HONC) are a por- tion of constraints that happen in variety of dynamics applications such as robotics and control. The majority of the methods, which have been in- troduced in nonholonomic mechanics, deal with flrst order nonholonomic systems, and use a group of new variables called \Lagrange Using Lagrange multipliers results in higher amount of needed calcula- tion. The presented method can solve a vast group of high order non- holonomic systems without using Lagrange multipliers. The introduced method makes dealing with high order nonholonomic systems very easy.