Radial kinetic nonholonomic trajectories are Riemannian geodesics!

DOI10.1007/S13324-021-00584-3MaRDI QIDQ2240798zbMATH OpenOpenAlexWikidataFDO

Authors Alexandre Anahory Simoes, Juan Carlos Marrero, David Martín de Diego

Publication date 4 November 2021

Published in Analysis and Mathematical Physics (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2010.12444

zbMATH Keywords

exponential map nonholonomic geodesics nonholonomic mechanics radial geodesics Riemannian geometry

Mathematics Subject Classification ID

Nonholonomic dynamical systems (37J60) Local Riemannian geometry (53B20) Methods of global Riemannian geometry, including PDE methods; curvature restrictions (53C21) Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45)

Abstract: Nonholonomic mechanics describes the motion of systems constrained by nonintegrable constraints. One of its most remarkable properties is that the derivation of the nonholonomic equations is not variational in nature. {However, in} this paper, we prove (Theorem 1.1) that for kinetic nonholonomic {systems}, the solutions starting from a fixed point

q

are true geodesics for a family of Riemannian metrics on the image submanifold

{m a t h c a l M}_{q}^{n h}

of the nonholonomic exponential map. This implies a surprising result: the kinetic nonholonomic trajectories with starting point

q

, for sufficiently small times, minimize length in

{m a t h c a l M}_{q}^{n h}

!

Review text

In this paper, an interesting result that characterize radial nonholonomic geodesics is presented. It is proved that for kinetic nonholonomic systems, the solutions starting from a fixed point \(q\) are true geodesics for a family of Riemannian metrics on the image submanifold \(\mathcal{M}_q^{nh}\) of the nonholonomic exponential map. This fact shows that the kinetic nonholonomic trajectories with starting point \(q\), for sufficiently small times, minimize length in \(\mathcal{M}_q^{nh}\). This result opens the door to new developments in nonholonomic mechanics using Riemannian geometry techniques: Jacobi fields, global minimizing properties of nonholonomic trajectories, construction of variational integrators for nonholonomic mechanics, Hamiltonization or Lagrangianization of nonholonomic systems.

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