Geometry of invariant tori of certain integrable systems with symmetry and an application to a nonholonomic system

DOI10.3842/SIGMA.2007.051MaRDI QIDQ2473448zbMATH OpenFDO

Authors Andrea Giacobbe, Francesco Fassò

Publication date 27 February 2008

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

Full work available at URL https://arxiv.org/abs/math/0703665, https://eudml.org/doc/54116, http://www.emis.de/journals/SIGMA/2007/051/

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zbMATH Keywords

integrable systemsnonholonomic mechanicsnonlinear dynamicssymmetry

Mathematics Subject Classification ID

Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Nonholonomic dynamical systems (37J60) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33)

Abstract: Bifibrations, in symplectic geometry called also dual pairs, play a relevant role in the theory of superintegrable Hamiltonian systems. We prove the existence of an analogous bifibrated geometry in dynamical systems with a symmetry group such that the reduced dynamics is periodic. The integrability of such systems has been proven by M. Field and J. Hermans with a reconstruction technique. We apply the result to the nonholonomic system of a ball rolling on a surface of revolution.

Review text

This paper deals with nonholonomic integrable mechanical systems. The purpose of the paper is to investigate the global geometry of fibration by the invariant tori of these systems, having in mind the analogy with the Hamiltonian case. In the Hamiltonian framework, integrability is usually related to the existence of integrals of motion with certain properties via the Liouville-Arnold theorem and/or its noncommutative generalizations, see e.g. [\textit{F. Fasso}, Acta Appl. Math. 87, No. 1--3, 93--121 (2005; Zbl 1073.37069)]. The resulting structure is characterized by the existence of two natural (and interrelated) invariant foliations of phase space: the fibration by the (isotropic) invariant tori and the (coisotropic) polar foliation (these make up a ``dual pair in symplectic terms). In this paper, extending previous results (also reviewed) by \textit{J. Hermans} [Nonlinearity 8, No.~4, 493--515 (1995; Zbl 0838.58037)], the authors show that a bifibrated structure is also presented for systems whose integrability is determined through reconstruction from a periodic reduced dynamics; note that now there is no symplectic interpretation of the ``polarity between the two fibrations. This kind of integrability is here also related to integrability in Bogoyavlenskij sense [\textit{O. I. Bogoyavlenskij}, Commun. Math. Phys. 196, No.~1, 19--51 (1998; Zbl 0931.37028)], studying the integrals of motion produced by the reconstruction procedure. The constructions considered here are illustrated by the example -- already considered by Hermans -- of a ball rolling inside a convex axially symmetric surface, adding a global perspective to previous investigation on this system.

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Cited in

(13)

• What is a completely integrable nonholonomic dynamical system?
• Geometric structure of ``broadly integrable Hamiltonian systems
• Integrability and dynamics of the \(n\)-dimensional symmetric Veselova top
• First integrals and symmetries of nonholonomic systems
• On the dynamics of a heavy symmetric ball that rolls without sliding on a uniformly rotating surface of revolution
• Control of locomotion systems and dynamics in relative periodic orbits
• Nonholonomic Noetherian symmetries and integrals of the Routh sphere and the Chaplygin ball
• A geometric characterization of certain first integrals for nonholonomic systems with symmetries
• Conservation of `moving' energy in nonholonomic systems with affine constraints and integrability of spheres on rotating surfaces
• On some aspects of the dynamics of a ball in a rotating surface of revolution and of the kasamawashi art
• Quasi-periodicity in relative quasi-periodic tori
• The geometry of integrable and superintegrable systems
• Symplectization of certain Hamiltonian systems in fibered almost-symplectic manifolds

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