Hamilton-Jacobi theory for nonholonomic and forced hybrid mechanical systems (Q6895929)

In hybrid dynamical systems the dynamics alternates continuous and discrete behaviours. An example are billiards, where the continuous dynamics of the ball rolling on a plane is interrupted by the collisions with the border of the billiard. In forced Hamiltonian systems, the Hamiltonian flow is modified by an external non-conservative force. The aim of the authors is here to extend to forced and hybrid systems the geometric Hamilton-Jacobi theory developed for standard conservative Hamiltonian systems. Concepts as complete integral of the Hamilton-Jacobi equation and integrability of Hamiltonian systems are therefore generalized to the new context. A forced Hamilton-Jacobi theorem is formulated, analogous to the standard one, with the difference that, in general, it is not possible to determine action-angle coordinates via a Liouville-Arnold theorem. Similarly, a hybrid Hamilton-Jacobi theorem is formulated, where, instead of a single solution of the Hamilton-Jacobi equation, appears a family of them, one for each continuous dynamics, separated by a discrete set of collisions. An integrable hybrid Hamiltonian system is therefore described as a family of integrable Hamiltonian systems related by the map of the collisions. A hybrid version of the Liouville-Arnold theorem is therefore proved. The examples of the circular billiard (with a separable hybrid Hamilton-Jacobi equation), of the rolling disk, without and with dissipation, hitting fixed walls are made. The final generalization of the Hamilton-Jacobi theory concerns nonholonomic hybrid Hamiltonian systems, for which a Hamilton-Jacobi theorem is formulated, and illustrated by the example of the constrained generalized rigid body.