Linear almost Poisson structures and Hamilton-Jacobi equation. Applications to nonholonomic mechanics (Q613107): Difference between revisions
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Latest revision as of 16:20, 18 April 2024
scientific article
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English | Linear almost Poisson structures and Hamilton-Jacobi equation. Applications to nonholonomic mechanics |
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Linear almost Poisson structures and Hamilton-Jacobi equation. Applications to nonholonomic mechanics (English)
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17 December 2010
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In this paper the authors adapt the standard Hamilton-Jacobi equations for systems without constraints to the nonholonomic systems, that is, those mechanical systems subject to linear constraints on the velocities. The framework is a vector bundle \(\tau _D:D\rightarrow Q\) such that its dual vector bundle \(\tau _{D^{*}}:D^{*}\rightarrow Q\) is endowed with a linear almost Poisson bracket \(\{\cdot ,\cdot\}_{D^{*}}\) (i.e. a linear bracket satisfying all the usual property of a Poisson bracket except the Jacobi identity). The authors introduce the notion of morphism preserving the Hamiltonian system \(h:D^{*}\rightarrow \mathbb{R}\), which is useful to treat with reduction procedures for nonholonomic systems with symmetries. The main result of the paper is to obtain the Hamilton-Jacobi equation in this new framework, whose expression seems a natural extension of the classical Hamilton-Jacobi equation. Also, using the orbit theorem, the authors prove that the classical form of the Hamilton-Jacobi equation remains valid for a special class of completely nonholonomic mechanical systems. Furthermore, the above results are applied to the theory of mechanical systems subjected to linear nonholonomic constraints on a Lie algebroid. Finally, several illustrative examples are given.
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Hamilton-Jacobi equation
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linear almost Poisson structure, almost differential
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skew-symmetric algebroid
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nonholonomic mechanical systems
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orbit theorem
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Hamiltonian morphism
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