Hamiltonization and integrability of the Chaplygin sphere in R^n

DOI10.1007/S00332-010-9067-9zbMATH Open1207.37047arXiv0902.4397OpenAlexW3103698688MaRDI QIDQ613614FDOQ613614

Authors: Božidar Jovanović 

Publication date: 21 December 2010

Published in: Journal of Nonlinear Science (Search for Journal in Brave)

Abstract: The paper studies a natural $n$-dimensional generalization of the classical nonholonomic Chaplygin sphere problem. We prove that for a specific choice of the inertia operator, the restriction of the generalized problem onto zero value of the SO(n-1)-momentum mapping becomes an integrable Hamiltonian system after an appropriate time reparametrization.

Full work available at URL: https://arxiv.org/abs/0902.4397

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zbMATH Keywords

Liouville integrabilityChaplygin reducing multipliernonholonomic reductionRolling sphere

Mathematics Subject Classification ID

Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Nonholonomic dynamical systems (37J60) Constrained dynamics, Dirac's theory of constraints (70H45)

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Cited In (32)

• One family of conformally Hamiltonian systems
• Cartan meets Chaplygin
• Radial kinetic nonholonomic trajectories are Riemannian geodesics!
• Nonholonomic Noetherian symmetries and integrals of the Routh sphere and the Chaplygin ball
• Demchenko’s nonholonomic case of a gyroscopic ball rolling without sliding over a sphere after his 1923 Belgrade doctoral thesis
• Hamiltonisation, measure preservation and first integrals of the multi-dimensional rubber Routh sphere
• The Jacobiator of nonholonomic systems and the geometry of reduced nonholonomic brackets
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• The geometry of nonholonomic Chaplygin systems revisited
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