13.4.3 Extensions of the Euler-Lagrange Equations

Several extensions of the Euler-Lagrange equation can be constructed to handle complications that arise in addition to kinetic energy and potential energy in a conservative field. Each extension usually involves adding more terms to (13.129) to account for the new complication. Problems that can be handled in this way are closed kinematic chains, nonholonomic constraints, and nonconservative forces (such as friction).


Steven M LaValle 2012-04-20