Gauge transformations, twisted Poisson brackets and Hamiltonization of nonholonomic systems

DOI10.1007/S00205-012-0512-9zbMATH Open1284.70028arXiv1104.0880OpenAlexW3099397297MaRDI QIDQ2276321FDOQ2276321

Paula Balseiro, Luis C. García-Naranjo

Publication date: 5 November 2012

Published in: Archive for Rational Mechanics and Analysis (Search for Journal in Brave)

Abstract: In this paper we study the problem of Hamiltonization of nonholonomic systems from a geometric point of view. We use gauge transformations by 2-forms (in the sense of Severa and Weinstein [29]) to construct different almost Poisson structures describing the same nonholonomic system. In the presence of symmetries, we observe that these almost Poisson structures, although gauge related, may have fundamentally different properties after reduction, and that brackets that Hamiltonize the problem may be found within this family. We illustrate this framework with the example of rigid bodies with generalized rolling constraints, including the Chaplygin sphere rolling problem. We also see how twisted Poisson brackets appear naturally in nonholonomic mechanics through these examples.

Full work available at URL: https://arxiv.org/abs/1104.0880

zbMATH Keywords

reductiongeneralized rolling constraintsphere rolling problem

Mathematics Subject Classification ID

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) Hamilton's equations (70H05) PDEs in connection with mechanics of particles and systems of particles (35Q70)

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