Conserved quantities and Hamiltonization of nonholonomic systems (Q2664460)

In this paper, the hamiltonization of nonholonomic systems is studied. In Section 2, the geometric approach to nonholonomic systems with symmetries is presented. Some notions such as constraint manifold, nonholonomic bracket, nonholonomic vector field, nonholonomic system, action of a Lie group, symmetries, twisted Poisson structures, and their properties are recalled. In Section 3, a nonholonomic system with a proper symmetry is considered. The concept of a gauge transformation is recalled and used to generate a new almost Poisson bivector associated to the considered system. The main result, regarding the gauge transformation and properties of the new bracket, is given by Theorem 3.7. In order to prove this theorem, other preliminary results are obtained. In Section 4, some examples are discussed, namely the snakeboard, the Chaplygin ball, a solid of revolution rolling on a plane, and a homogeneous ball rolling in the interior side of a cylinder. In Section 5, the hamiltonization problem of the mechanical system formed by a homogeneous ball rolling without sliding on a convex surface of revolution is analyzed.