The constraint equations expressed by state variables were introduced, and new variational principles of kinematic constrained systems in state space were established. The equations of motion with multiplier and in general state variables for kinematic constrained systems were derived. It is shown that the motion equations of constrained systems in state space are singular. An example was given to illustrate the application of the result.
丁光涛.状态空间中约束系统的运动方程[J].动力学与控制学报,2015,13(4):250~255; Ding Guangtao. Equations of motion in state space for constrained mechanical systems[J]. Journal of Dynamics and Control,2015,13(4):250-255.
