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Recently Nieto has proposed a link between oriented matroid theory and the Schild type action of p-branes. This particular matroid theory satisfies the local condition, i.e., the degenerate form must be closed. This allows us to explain the dynamics of p-branes in terms of Nambu–Poisson structure. In this paper using an infinitesimal canonical transformation of Nambu brackets we show that the helicity is conserved in the dynamics of p-branes. Applying Filippov algebra (or quantum Nambu bracket) we define a generalized Yang–Mills action in 4k space. We show that this action is equivalent to Dolan–Tchrakian type action.