A discretization of the nonholonomic Chaplygin sphere problem

DOI10.3842/SIGMA.2007.044zbMATH Open1193.37087arXivnlin/0612037OpenAlexW2145165891MaRDI QIDQ2473440FDOQ2473440

Authors: Yuri N. Fedorov 

Publication date: 27 February 2008

Published in: SIGMA. Symmetry, Integrability and Geometry: Methods and Applications (Search for Journal in Brave)

Abstract: The celebrated problem of a non-homogeneous sphere rolling over a horizontal plane was proved to be integrable and was reduced to quadratures by Chaplygin. Applying the formalism of variational integrators (discrete Lagrangian systems) with nonholonomic constraints and introducing suitable discrete constraints, we construct a discretization of the n-dimensional generalization of the Chaplygin sphere problem, which preserves the same first integrals as the continuous model, except the energy. We then study the discretization of the classical 3-dimensional problem for a class of special initial conditions, when an analog of the energy integral does exist and the corresponding map is given by an addition law on elliptic curves. The existence of the invariant measure in this case is also discussed.

Full work available at URL: https://arxiv.org/abs/nlin/0612037

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zbMATH Keywords

discretizationnonholonomic systemsintegrability

Mathematics Subject Classification ID

Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonholonomic dynamical systems (37J60) Motion of a rigid body in contact with a solid surface (70E18) Constrained dynamics, Dirac's theory of constraints (70H45)

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• Hamiltonization and integrability of the Chaplygin sphere in \(\mathbb R^{n}\)
• Discrete Hamiltonian variational mechanics and Hamel's integrators
• Integrable discretization and deformation of the nonholonomic Chaplygin ball
• Discrete nonholonomic Lagrangian systems on Lie groupoids
• On some aspects of the discretization of the Suslov problem
• The geometric discretisation of the Suslov problem: a case study of consistency for nonholonomic integrators

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