Geometrisation of Chaplygin's reducing multiplier theorem

DOI10.1088/0951-7715/28/7/2307MaRDI QIDQ2944165zbMATH OpenOpenAlexFDO

Authors A. V. Bolsinov, A. V. Borisov, I. S. Mamaev

Publication date 28 August 2015

Published in Nonlinearity (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1405.5843, https://dspace.lboro.ac.uk/2134/17888

zbMATH Keywords

Chaplygin ballHamiltonisationnonholonomic systemPoisson bracket

Mathematics Subject Classification ID

Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Nonholonomic dynamical systems (37J60) Poisson manifolds; Poisson groupoids and algebroids (53D17) Motion of a rigid body in contact with a solid surface (70E18)

Abstract: We develop the reducing multiplier theory for a special class of nonholonomic dynamical systems and show that the non-linear Poisson brackets naturally obtained in the framework of this approach are all isomorphic to the Lie-Poisson $e(3)$-bracket. As two model examples, we consider the Chaplygin ball problem on the plane and the Veselova system. In particular, we obtain an integrable gyrostatic generalisation of the Veselova system.

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