Poisson structures for reduced non-holonomic systems
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Publication:4812469
DOI10.1088/0305-4470/37/17/012zbMATH Open1048.37056arXivmath-ph/0401054OpenAlexW3105794212MaRDI QIDQ4812469FDOQ4812469
Authors: Arturo Ramos 
Publication date: 23 August 2004
Published in: Journal of Physics A: Mathematical and General (Search for Journal in Brave)
Abstract: Borisov, Mamaev and Kilin have recently found certain Poisson structures with respect to which the reduced and rescaled systems of certain non-holonomic problems, involving rolling bodies without slipping, become Hamiltonian, the Hamiltonian function being the reduced energy. We study further the algebraic origin of these Poisson structures, showing that they are of rank two and therefore the mentioned rescaling is not necessary. We show that they are determined, up to a non-vanishing factor function, by the existence of a system of first-order differential equations providing two integrals of motion. We generalize the form of that Poisson structures and extend their domain of definition. We apply the theory to the rolling disk, the Routh's sphere, the ball rolling on a surface of revolution, and its special case of a ball rolling inside a cylinder.
Full work available at URL: https://arxiv.org/abs/math-ph/0401054
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Cited In (29)
- Reduction of almost Poisson brackets for nonholonomic systems on Lie groups
- The Jacobiator of nonholonomic systems and the geometry of reduced nonholonomic brackets
- The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
- Conservation laws, hierarchy of dynamics and explicit integration of nonholonomic systems
- On generalized nonholonomic Chaplygin sphere problem
- Reduction of almost Poisson brackets and Hamiltonization of the Chaplygin sphere
- Almost Poisson spaces and nonholonomic singular reduction
- Poisson structures for two nonholonomic systems with partially reduced symmetries
- Generalized results on the role of new-time transformations in finite-dimensional Poisson systems
- A generalization of Chaplygin's reducibility theorem
- Nonholonomic versus vakonomic dynamics on a Riemann–Cartan manifold
- On the nonlinear Poisson bracket arising in nonholonomic mechanics
- Almost-Poisson brackets for nonholonomic systems with gyroscopic terms and Hamiltonisation
- The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
- Conservation laws, hierarchy of dynamics and explicit integration of nonholonomic systems
- Topology and bifurcations in nonholonomic mechanics
- Conserved quantities and Hamiltonization of nonholonomic systems
- Periodic flows, rank-two Poisson structures, and nonholonomic mechanics
- On the Routh sphere problem
- Hamiltonization of solids of revolution through reduction
- On a nonholonomic dynamical problem
- Gauge momenta as Casimir functions of nonholonomic systems
- On the Routh sphere
- Non-holonomic dynamics and Poisson geometry
- Momentum map reduction for nonholonomic systems
- Congruence method for global Darboux reduction of finite-dimensional Poisson systems
- On the Poisson structures for the nonholonomic Chaplygin and Veselova problems
- On the dynamics of a heavy symmetric ball that rolls without sliding on a uniformly rotating surface of revolution
- Hamiltonian formulation for mechanical systems with nonholonomic constraints
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