关键词: energy holonomic, nonholonomic, Lie group, Poincare’sequauons, singular perturbation, nonlinear state regulator, optimal control, diagonalization technique

Abstract: Whitlaker’s reduction method invokes the energy integral to reduce the order of Lagrange’s.equations of motion of aholonomic dynamical system This paper treats the coresponding result for a nonholonomic conservative system deseribed by poincar’s equations which are constructed form the standpoint of the theory of Lie groups.

Key words: energy holonomic, nonholonomic, Lie group, Poincare’sequauons, singular perturbation, nonlinear state regulator, optimal control, diagonalization technique