Hamilton-Jacobi theory for degenerate Lagrangian systems with holonomic and nonholonomic constraints

DOI10.1063/1.4736733zbMATH Open1277.70022arXiv1109.6056OpenAlexW2008734228MaRDI QIDQ2865541FDOQ2865541

Tomoki Ohsawa, Melvin Leok, Diana Sosa

Publication date: 29 November 2013

Published in: Journal of Mathematical Physics (Search for Journal in Brave)

Abstract: We extend Hamilton-Jacobi theory to Lagrange-Dirac (or implicit Lagrangian) systems, a generalized formulation of Lagrangian mechanics that can incorporate degenerate Lagrangians as well as holonomic and nonholonomic constraints. We refer to the generalized Hamilton-Jacobi equation as the Dirac-Hamilton-Jacobi equation. For non-degenerate Lagrangian systems with nonholonomic constraints, the theory specializes to the recently developed nonholonomic Hamilton-Jacobi theory. We are particularly interested in applications to a certain class of degenerate nonholonomic Lagrangian systems with symmetries, which we refer to as weakly degenerate Chaplygin systems, that arise as simplified models of nonholonomic mechanical systems; these systems are shown to reduce to non-degenerate almost Hamiltonian systems, i.e., generalized Hamiltonian systems defined with non-closed two-forms. Accordingly, the Dirac-Hamilton-Jacobi equation reduces to a variant of the nonholonomic Hamilton-Jacobi equation associated with the reduced system. We illustrate through a few examples how the Dirac-Hamilton-Jacobi equation can be used to exactly integrate the equations of motion.

Full work available at URL: https://arxiv.org/abs/1109.6056

zbMATH Keywords

Hamilton-Jacobi equationholonomic and nonholonomic constraintsdegenerate LagrangiansChaplygin systems

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Hamilton-Jacobi equations in mechanics (70H20) Nonholonomic dynamical systems (37J60) Constrained dynamics, Dirac's theory of constraints (70H45)

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