Regular and Chaotic Dynamics

, Volume 13, Issue 5, pp 443–490 | Cite as

Conservation laws, hierarchy of dynamics and explicit integration of nonholonomic systems

  • A. V. Borisov
  • I. S. Mamaev
Nonholonomic Mechanics


This paper can be regarded as a continuation of our previous work [1, 2] on the hierarchy of the dynamical behavior of nonholonomic systems. We consider different mechanical systems with nonholonomic constraints; in particular, we examine the existence of tensor invariants (laws of conservation) and their connection with the behavior of a system. Considerable attention is given to the possibility of conformally Hamiltonian representation of the equations of motion, which is mainly used for the integration of the considered systems.

Key words

nonholonomic systems implementation of constraints conservation laws hierarchy of dynamics explicit integration 

MSC2000 numbers

34D20 70E40 37J35 


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© MAIK Nauka 2008

Authors and Affiliations

  1. 1.Institute of Computer ScienceUdmurt State UniversityIzhevskRussia

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