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

DOI10.1016/S0034-4877(09)90001-5MaRDI QIDQ2270488zbMATH OpenFDO

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)

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

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)

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.

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Cited in

(23)

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• Radial kinetic nonholonomic trajectories are Riemannian geodesics!
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• One invariant measure and different Poisson brackets for two non-holonomic systems

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