Geometry of invariant tori of certain integrable systems with symmetry and an application to a nonholonomic system (Q2473448)

This paper deals with nonholonomic integrable mechanical systems. The purpose of the paper is to investigate the global geometry of fibration by the invariant tori of these systems, having in mind the analogy with the Hamiltonian case. In the Hamiltonian framework, integrability is usually related to the existence of integrals of motion with certain properties via the Liouville-Arnold theorem and/or its noncommutative generalizations, see e.g. [\textit{F. Fasso}, Acta Appl. Math. 87, No. 1--3, 93--121 (2005; Zbl 1073.37069)]. The resulting structure is characterized by the existence of two natural (and interrelated) invariant foliations of phase space: the fibration by the (isotropic) invariant tori and the (coisotropic) polar foliation (these make up a ``dual pair'' in symplectic terms). In this paper, extending previous results (also reviewed) by \textit{J. Hermans} [Nonlinearity 8, No.~4, 493--515 (1995; Zbl 0838.58037)], the authors show that a bifibrated structure is also presented for systems whose integrability is determined through reconstruction from a periodic reduced dynamics; note that now there is no symplectic interpretation of the ``polarity'' between the two fibrations. This kind of integrability is here also related to integrability in Bogoyavlenskij sense [\textit{O. I. Bogoyavlenskij}, Commun. Math. Phys. 196, No.~1, 19--51 (1998; Zbl 0931.37028)], studying the integrals of motion produced by the reconstruction procedure. The constructions considered here are illustrated by the example -- already considered by Hermans -- of a ball rolling inside a convex axially symmetric surface, adding a global perspective to previous investigation on this system.