This is a concise review of the symmetries and conserved quantities of the constrained mechanical systems. It deals with three kinds of symmetries: the Noether symmetry, the Lie symmetry and the form invariance, and three kinds of conserved quantities: the Noether conserved quantity, the Hojman type conserved quantity and the new conserved quantity.

The system described by the generalized Birkhoff equations is called a generalized Birkhoffian system. In this paper, the condition under which the generalized Birkhoffian system can be a gradient system is given. The stability of equilibrium of the generalized Birkhoffian system is discussed by using the properties of the gradient system. When there is a parameter in the equations, its influences on the stability and the bifurcation problem of the system are considered.

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In this paper, we present an improved wheelset motion model with two degrees of freedom and study the dynamic behaviors of the system including the symmetry, the existence and uniqueness of the solution, continuous dependence on initial conditions, and Hopf bifurcation. The dynamic characteristics of the wheelset motion system under a nonholonomic constraint are investigated. These results generalize and improve some known results about the wheelset motion system. Meanwhile, based on multiple equilibrium analysis, calculation of Lyapunov exponents and Poincaré section, the chaotic behaviors of the wheelset system are discussed, which indicates that there are more complex dynamic behaviors in the railway wheelset system with higher order terms of Taylor series of trigonometric functions. This paper has also realized the chaos control and bifurcation control for the wheelset motion system by adaptive feedback control method and linear feedback control. The results show that the chaotic wheelset system and bifurcation wheelset system are all well controlled, whether by controlling the yaw angle and the lateral displacement or only by controlling the yaw angle. Numerical simulations are carried out to further verify theoretical analyses.