Presents again a new formulation of Lagrange s equations by using an augmented Lagrangian function with the second order non linear nonholonomic constraint equations.
采用带有二阶非线性非完整约束方程的扩张性拉氏函数 ,建立起了拉格朗日方程的又一新公式 ,该新公式较为规则 ,它提供了一种完整约束系统和非完整约束系统两者统一的变分方法。
Presents a new formulation of Lagrange s equations by using an augmented Lagrangian function with the first order non linear nonholonomic constraint equations, and offers a unified variational approach to both holonomic and nonholonomic constraints.
并指出了一个“漂亮”的扩张性拉氏函数的拉格朗日方程的错误。
