Nonholonomic LL systems on central extensions and the hydrodynamic Chaplygin sleigh with circulation

DOI10.1016/J.GEOMPHYS.2013.05.002MaRDI QIDQ390952zbMATHOpenAlexFDO

Authors Joris Vankerschaver, Luis C. García-Naranjo

Publication date 9 January 2014

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

Full work available at URL https://arxiv.org/abs/1109.3210

zbMATH Keywords

invariant measurescentral extensionshydrodynamicsnonholonomic constraints

Mathematics Subject Classification ID

Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Motion of a rigid body with a fixed point (70E17)

Abstract: We consider nonholonomic systems whose configuration space is the central extension of a Lie group and have left invariant kinetic energy and constraints. We study the structure of the associated Euler-Poincare-Suslov equations and show that there is a one-to-one correspondence between invariant measures on the original group and on the extended group. Our results are applied to the hydrodynamic Chaplygin sleigh, that is, a planar rigid body that moves in a potential flow subject to a nonholonomic constraint modeling a fin or keel attached to the body, in the case where there is circulation around the body.

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Cited in

(5)

• Computational Dynamics of Reduced Coupled Multibody-Fluid System in Lie Group Setting
• Flapping wing coupled dynamics in Lie group setting
• On a Lagrangian reduction and a deformation of completely integrable systems
• The motion of the 2D hydrodynamic Chaplygin sleigh in the presence of circulation
• The hydrodynamic Chaplygin sleigh

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