二阶扩张性拉氏函数描述的拉格朗日方程的新公式

A New Formulation of Lagrange's Equations with the Second order Augmented Lagrangian Function

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 again a new formulation of Lagrange's equations by using an augmented Lagrangian function with the second order non linear nonholonomic constraint equations. It offers a unified variational approach to both holonomic and nonholonomic constraints. Through the examination of using three examples with nonholonomic constraints, it is proved that the new formulation is correct.