The aim of this paper is to construct Noether invariants for Lagrangian non-holonomic dynamics with affine or nonlinear constraints, considered to be adapted to a foliation on the base manifold. A set of illustrative examples is given, including linear and nonlinear Appell mechanical systems.

中文翻译：

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非完整系统的Noether不变量

本文的目的是构造具有仿射或非线性约束的拉格朗日非完整动力学的Noether不变式，认为适合于基础流形上的叶面。给出了一组说明性示例，包括线性和非线性Appell机械系统。