Poisson reduction for nonholonomic mechanical systems with symmetry

DOI10.1016/S0034-4877(98)80007-4zbMath1120.37314MaRDI QIDQ1289587

Jerrold E. Marsden, Wang Sang Koon

Publication date: 21 November 2001

Published in: Reports on Mathematical Physics (Search for Journal in Brave)

zbMATH Keywords

symmetry; momentum equation; control theory; stability theory; nonholonomic mechanics; mechanics on Poisson manifolds; nonholonomic symplectic and Lagrangian reduction; reduced Hamiltonian equations

Mathematics Subject Classification ID

70Q05: Control of mechanical systems

53D20: Momentum maps; symplectic reduction

70H45: Constrained dynamics, Dirac's theory of constraints

70F25: Nonholonomic systems related to the dynamics of a system of particles

70H33: Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics

37J60: Nonholonomic dynamical systems

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