Nonholonomic Mechanics and Control on Dynamical Systems

Abstract

Geometrical control theory has been handled in this research. In fact we consider this topic in light of symplectic geometry where a symplectic form has been studied with the property that it is invariant under the dynamics. In our study we consider geometrical interpretations and solutions of nonoholonomic dynamical systems. Controllability is investigated utilizing symplectic geometry in particular nonlinear behavior. Several examples are given illustrating controllability and optimal control.