Nonholonomic systems via moving frames: Cartan equivalence and Chaplygin Hamiltonization
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Using the method of moving frames, the authors present detailed results on two main aspects of nonholohomic (NH) systems: i) Cartan's equivalence, by means of Cartan's geometric description of NH systems via affine connections, in order to obtain all local invariants, ii) Chaplygin systems: compression of external symmetries and reduction of internal symmetries, with the aim to generalize Chaplygin's reduction factor method, namely to verify whether a Hamiltonization is possible (through conformally symplectic structures). Several examples are analyzed, and a tutorial on the method of equivalence is included. We recall that NH systems have a reputation of presenting peculiar dynamic behavior. As consequence, in spite of good progress, the general theory for NH systems is way behind the theory of Hamiltonian systems, and so this excellent survey will remain an essential reference in the field for years to come. For the entire collection see [Zbl 1062.53002].
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