First integrals and symmetries of nonholonomic systems
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Publication:2127908
Abstract: In nonholonomic mechanics, the presence of constraints in the velocities breaks the well-under-stood link between symmetries and first integrals of holonomic systems, expressed in Noether's Theorem. However there is a known special class of first integrals of nonholonomic systems generated by vector fields tangent to the group orbits, called {it horizontal gauge momenta}, that suggest that some version of this link should still hold. In this paper we prove that, under certain conditions on the symmetry Lie group, the (nonholonomic) momentum map is conserved along the nonholonomic dynamics, thus extending Noether Theorem to the nonholonomic framework. Our analysis leads to a constructive method, with fundamental consequences to the integrability of some nonholonomic systems as well as their hamiltonization. We apply our results to three paradigmatic examples: the snakeboard, a solid of revolution rolling without sliding on a plane and a heavy homogeneous ball that rolls without sliding inside a convex surface of revolution. In particular, for the snakeboard we show the existence of a new horizontal gauge momentum that reveals new aspects of its integrability.
The authors consider some extensions of Noether's theorem to the nonholonomic framework. In Section 1 the problem is described and the main results are explained. In Section 2 the basic aspects and notations for nonholonomic systems and horizontal gauge momenta are recalled. In Section 3 an intrinsic formulation of the momentum equation is deduced and the horizontal symmetries are described. Moreover, the notion of ``strong invariance condition is introduced. Finally, a nonholonomic version of the Noether theorem, which provides the number of horizontal gauge momenta, is proved. The theoretical results are illustrated for the nonholonomic oscillator. In Section 4 the fundamental consequences of the above-mentioned theorem, namely integrability and hamiltonization, are studied. It is shown that the reduced dynamics is integrable by quadratures. Moreover, under some conditions, the reduced dynamics is periodic. In this case all the necessary information on the complete dynamics can be reconstructed. In Section 5 the techniques and results of this paper are applied to three paradigmatic nonholonomic models, namely the snakeboard, a solid of revolution rolling on a plane, and a heavy homogeneous ball rolling on a surface of revolution. Two appendices conclude the paper. In the first one basic definitions about almost Poisson brackets and gauge transformations are recalled. In the second one basic facts about reconstruction theory are presented.
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