LIE SYMMETRIES AND CONSERVED QUANTITIES OF NONHOLONOMIC SYSTEMS WITH SERVOCONSTR AINTS

Using the invariance of the algebraic equations and the differential equations under the infinitesimal transformations,we study the Lie symmetries and conserved quantities of the nonholonomic systems with servoconstraints.We establish the determining equations,the restriction equations and the structure equation,and give the form of conserved quantities.