Linear almost Poisson structures and Hamilton-Jacobi equation. Applications to nonholonomic mechanics

DOI10.3934/JGM.2010.2.159zbMATH Open1226.37045arXiv0801.4358OpenAlexW2963182815MaRDI QIDQ613107FDOQ613107

David Martín de Diego, Manuel de León, Juan Carlos Marrero

Publication date: 17 December 2010

Published in: Journal of Geometric Mechanics (Search for Journal in Brave)

Abstract: In this paper, we study the underlying geometry in the classical Hamilton-Jacobi equation. The proposed formalism is also valid for nonholonomic systems. We first introduce the essential geometric ingredients: a vector bundle, a linear almost Poisson structure and a Hamiltonian function, both on the dual bundle (a Hamiltonian system). From them, it is possible to formulate the Hamilton-Jacobi equation, obtaining as a particular case, the classical theory. The main application in this paper is to nonholonomic mechanical systems. For it, we first construct the linear almost Poisson structure on the dual space of the vector bundle of admissible directions, and then, apply the Hamilton-Jacobi theorem. Another important fact in our paper is the use of the orbit theorem to symplify the Hamilton-Jacobi equation, the introduction of the notion of morphisms preserving the Hamiltonian system; indeed, this concept will be very useful to treat with reduction procedures for systems with symmetries. Several detailed examples are given to illustrate the utility of these new developments.

Full work available at URL: https://arxiv.org/abs/0801.4358

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zbMATH Keywords

nonholonomic mechanical systemsHamilton-Jacobi equationHamiltonian morphismlinear almost Poisson structure, almost differentialorbit theoremskew-symmetric algebroid

Mathematics Subject Classification ID

Poisson manifolds; Poisson groupoids and algebroids (53D17) 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) Hamilton-Jacobi equations in mechanics (70H20) Nonholonomic dynamical systems (37J60)

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