Critical manifolds and stability in Hamiltonian systems with nonholonomic constraints
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Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Stability problems for problems in Hamiltonian and Lagrangian mechanics (70H14)
Abstract: We explore a particular approach to the analysis of dynamical and geometrical properties of autonomous, Pfaffian non-holonomic systems in classical mechanics. The method is based on the construction of a certain auxiliary constrained Hamiltonian system, which comprises the non-holonomic mechanical system as a dynamical subsystem on an invariant manifold. The embedding system possesses a completely natural structure in the context of symplectic geometry, and using it in order to understand properties of the subsystem has compelling advantages. We discuss generic geometric and topological properties of the critical sets of both embedding and physical system, using Conley-Zehnder theory and by relating the Morse-Witten complexes of the 'free' and constrained system to one another. Furthermore, we give a qualitative discussion of the stability of motion in the vicinity of the critical set. We point out key relations to sub-Riemannian geometry, and a potential computational application.
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Cited in
(5)- Analytical expressions for stable and unstable manifolds in higher degree of freedom Hamiltonian systems
- Dirac structures in Lagrangian mechanics. I: Implicit Lagrangian systems
- A general mechanism of instability in Hamiltonian systems: skipping along a normally hyperbolic invariant manifold
- Topology and bifurcations in nonholonomic mechanics
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