Hamiltonization of nonholonomic systems and the inverse problem of the calculus of variations

DOI10.1016/S0034-4877(09)90001-5zbMATH Open1207.37045arXiv0812.0437MaRDI QIDQ2270488FDOQ2270488

Authors: Tom Mestdag, Anthony M. Bloch, O. E. Fernandez 

Publication date: 28 July 2009

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

Abstract: We introduce a method which allows one to recover the equations of motion of a class of nonholonomic systems by finding instead an unconstrained Hamiltonian system on the full phase space, and to restrict the resulting canonical equations to an appropriate submanifold of phase space. We focus first on the Lagrangian picture of the method and deduce the corresponding Hamiltonian from the Legendre transformation. We illustrate the method with several examples and we discuss its relationship to the Pontryagin maximum principle.

Full work available at URL: https://arxiv.org/abs/0812.0437

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zbMATH Keywords

inverse problemquantizationHamiltoniancontrol systemPontryagin's principlenonholonomic system

Mathematics Subject Classification ID

Inverse problems for systems of particles (70F17) 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) Nonholonomic dynamical systems (37J60) Variational principles in infinite-dimensional spaces (58E30) Other variational principles in mechanics (70H30)

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Cited In (23)

• Radial kinetic nonholonomic trajectories are Riemannian geodesics!
• Helmholtz theorem for nondifferentiable Hamiltonian systems in the framework of Cresson's quantum calculus
• Generalized Birkhoffian realization of nonholonomic systems
• Inverse problem for Chaplygin's nonholonomic systems
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• Hamiltonization and separation of variables for a Chaplygin ball on a rotating plane
• The inverse problem of the calculus of variations for discrete systems
• A generalization of Chaplygin's reducibility theorem
• Gauge transformations, twisted Poisson brackets and Hamiltonization of nonholonomic systems
• Linear connections and shape maps for second order ODEs with and without constraints
• Hamiltonian form of non-holonomic variational problems
• Hamiltonization of non-holonomic systems in the neighborhood of invariant manifolds
• Nonholonomic Hamilton-Jacobi theory via Chaplygin Hamiltonization
• On the inverse variational problem in nonholonomic mechanics
• Hamiltonisation of classical non-holonomic systems
• Regularity aspects and Hamiltonization of non-holonomic systems
• Geometric mechanics on nonholonomic submanifolds
• Anholonomic frames in constrained dynamics
• Uniform projectile motion: Dynamics, symmetries and conservation laws
• Poincaré transformations in nonholonomic mechanics
• Title not available (Why is that?)
• One invariant measure and different Poisson brackets for two non-holonomic systems
• Hamiltonian formulation for mechanical systems with nonholonomic constraints

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