Constrained Lagrangian dissipative contact dynamics
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We show that the contact dynamics obtained from the Herglotz variational principle can be described as a constrained nonholonomic or vakonomic ordinary Lagrangian system depending on a dissipative variable with an adequate choice of one constraint. As a consequence, we obtain the dynamics of contact nonholonomic and vakonomic systems as an ordinary variational calculus with constraints on a Lagrangian with a dissipative variable. The variation of the energy and the other dissipative quantities is also obtained, giving the usual results.
CitationDe Leó, M. [et al.]. Constrained Lagrangian dissipative contact dynamics. "Journal of mathematical physics", 28 Desembre 2021, vol. 62, p. 122902:1-122902:24.