Nonholonomic brackets: Eden revisited

DOI10.1007/978-3-031-38299-4_12MaRDI QIDQ6138220OpenAlexFDO

Authors Manuel de León, Manuel Lainz, Asier López-Gordón, Juan Carlos Marrero

Publication date 16 January 2024

Published in Lecture Notes in Computer Science (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2303.03002

zbMATH Keywords

nonholonomic systemsskew-symmetric algebroidsnonholonomic bracketsEden bracket

Mathematics Subject Classification ID

Poisson manifolds; Poisson groupoids and algebroids (53D17)

Abstract: The nonholonomic dynamics can be described by the so-called nonholonomic bracket in the constrained submanifold, which is a non-integrable modification of the Poisson bracket of the ambient space, in this case, of the canonical bracket in the cotangent bundle of the configuration manifold. This bracket was defined by Cantrijn et al. and Ibort et al., although there was already some particular and less direct definition. On the other hand, another bracket, also called noholonomic, was defined using the description of the problem in terms of almost Lie algebroids. Recently, reviewing two older papers by R. J. Eden, we have defined a new bracket which we call Eden bracket. In the present paper, we prove that these three brackets coincide. Moreover, the description of the nonholonomic bracket `a la Eden has allowed us to make important advances in the study of Hamilton-Jacobi theory and the quantization of nonholonomic systems.

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Cites work

• scientific article; zbMATH DE number 194967 (Why is no real title available?)
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• On the Hamiltonian formulation of nonholonomic mechanical systems
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• The quantum mechanics of non-holonomic systems

Cited in

(1)

• A new perspective on nonholonomic brackets and Hamilton-Jacobi theory

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