Dirac structures in vakonomic mechanics

DOI10.1016/J.GEOMPHYS.2014.11.002MaRDI QIDQ2352286zbMATH OpenOpenAlexFDO

Authors Fernando Jiménez, H. Yoshimura

Publication date 30 June 2015

Published in Journal of Geometry and Physics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1405.5394

zbMATH Keywords

Dirac structuresimplicit Lagrangian systemsnonholonomic mechanicsvakonomic mechanicsvariational principles

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Other variational principles in mechanics (70H30) Constrained dynamics, Dirac's theory of constraints (70H45)

Abstract: In this paper, we explore dynamics of the nonholonomic system called vakonomic mechanics in the context of Lagrange-Dirac dynamical systems using a Dirac structure and its associated Hamilton-Pontryagin variational principle. We first show the link between vakonomic mechanics and nonholonomic mechanics from the viewpoints of Dirac structures as well as Lagrangian submanifolds. Namely, we clarify that Lagrangian submanifold theory cannot represent nonholonomic mechanics properly, but vakonomic mechanics instead. Second, in order to represent vakonomic mechanics, we employ the space $TQimes{V}^{ast}$, where a vakonomic Lagrangian is defined from a given Lagrangian (possibly degenerate) subject to nonholonomic constraints. Then, we show how implicit vakonomic Euler-Lagrange equations can be formulated by the Hamilton-Pontryagin variational principle for the vakonomic Lagrangian on the extended Pontryagin bundle $(TQoplus{T}^{ast}Q)imes{V}^{ast}$. Associated with this variational principle, we establish a Dirac structure on $(TQoplus{T}^{ast}Q)imes{V}^{ast}$ to define an intrinsic vakonomic Lagrange-Dirac system. Furthermore, we establish another construction for the vakonomic Lagrange-Dirac system using a Dirac structure on $T^{ast}Qimes{V}^{ast}$, where we introduce a vakonomic Dirac differential. Lastly, we illustrate our theory of vakonomic Lagrange-Dirac systems by some examples such as the vakonomic skate and the vertical rolling coin.

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Cited in

(8)

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