包含伺服约束的非完整系统的Lie对称性与守恒量

LIE SYMMETRIES AND CONSERVED QUANTITIES OF NONHOLONOMIC SYSTEMS WITH SERVOCONSTRAINTS

利用代数方程和微分方程在无限小变换下的不变性 ,研究带有伺服约束的非完整系统的Lie对称性 .给出Lie对称性的确定方程、限制方程、结构方程 ,并给出守恒量的形式 .

Using the invariance of the algebraic equations and the differential equations under the infinitesimal transformations,we study the Lie symmetries and conserved quantities of the nonholonomic systems with servoconstraints.We establish the determining equations,the restriction equations and the structure equation,and give the form of conserved quantities.