We derive generalized Hamilton–Jacobi equations for dynamical systems subject to linear velocity constraints. As long as a solution of the generalized Hamilton–Jacobi equation exists, the action is actually minimized (not just extremized).
Hamilton-Jacobi equations for nonholonomic dynamics
PAVON, MICHELE
2005
Abstract
We derive generalized Hamilton–Jacobi equations for dynamical systems subject to linear velocity constraints. As long as a solution of the generalized Hamilton–Jacobi equation exists, the action is actually minimized (not just extremized).
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