Nonholonomic Multibody Dynamics

The paper deals with the nonholonomic multibody system dynamics from apoint of view which is caused by some actual applications in high-tecareas like high-speed train technology or biomechanics of somedisciplines in high-performance sports. Obviously, looking at suchproblems, there are very close connections between classical analyticaldynamics, differential geometry and modern control theory. But theseconnections cannot be used to get new composed results in solvingcomplicated problems of multibody system dynamics because correspondingsoftware tools are not enough in tune with each other. This paper willgive some ideas for developing a unified basis for modeling, simulationand control of nonholonomic multibody systems.