Bond Graphs for Nonholonomic Dynamic Systems

[+] Author and Article Information
F. T. Brown

Lehigh University, Bethlehem, Pa.

J. Dyn. Sys., Meas., Control 98(4), 361-366 (Dec 01, 1976) (6 pages) doi:10.1115/1.3427052 History: Received July 27, 1976; Online July 13, 2010


Two very different dynamic systems, one holonomic and the other nonholonomic, can have identical expressions for generalized kinetic energy, generalized potential energy, and transformational constraints between the generalized velocities, and therefore might be confused. Bond graphs for a broad class of nonholonomic systems are shown to differ from their holonomic counterparts simply by the deletion of certain gyrators. Simple examples suggest the engineering significance of nonholonomic systems.

Copyright © 1976 by ASME
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