Herglotz-type vakonomic dynamics and its Noether symmetry for nonholonomic constrained systems

Abstract

In this paper, Herglotz-type vakonomic dynamics and Noether theory of nonholonomic systems are studied. Firstly, Herglotz-type vakonomic dynamical equations for nonholonomic systems are derived on the premise of Herglotz variational principle. Secondly, in terms of the Herglotz-type vakonomic dynamical equations, the Noether symmetry of Herglotz-type vakonomic dynamics is explored, and the Herglotz-type vakonomic dynamical Noether theorems and their inverse theorems are deduced. Finally, the conservation laws of Appell–Hamel case with non-conservative forces are analyzed to show the validity of our results.