Nonholonomic brackets: Eden revisited

DOI10.1007/978-3-031-38299-4_12MaRDI QIDQ6138220zbMATH OpenOpenAlexFDO

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

Eden bracketnonholonomic bracketsnonholonomic systemsskew-symmetric algebroids

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.

Review text

Nonholonomic brackets provide an analogue to Poisson brackets for nonholonomic systems. The authors note that several alternatives have been proposed over the years - two of which they previously described, but it has been difficult to determine if these alternatives are actually all different. In reviewing the literature, the authors found two papers by \textit{R.J. Eden} [Proc. Roy. Soc. London Ser. A 205, 564--583 (1951; Zbl 0042.21701); Proc. Roy. Soc. London Ser. A 205, 583--595 (1951; Zbl 0042.21702)]. In the first paper, Eden introduced an operator \(\gamma\) that mapped free states to constrained states. That operator is a tensor of type (1,1) that has the properties of a projector. With this, Eden got equations of motion, the ability to calculate brackets of all observables, found a simple Hamilton-Jacobi equation, and managed to construct a quantization of the nonholonomic system. In this paper the authors identify the operator \(\gamma\) as a projection defined by the orthogonal decomposition of the cotangent bundle that the Riemannian metric provides via kinetic energy. They then define a new bracket they call the Eden bracket, and prove that the previous definitions of nonholonomic bracket coincide with this one. For the entire collection see [Zbl 1528.53002].

Recommendations

• A new perspective on nonholonomic brackets and Hamilton-Jacobi theory
• On the Hamiltonian formulation of nonholonomic mechanical systems
• On the nonlinear Poisson bracket arising in nonholonomic mechanics
• The algebraic structure and Poisson's theory for the equations of motion of nonholonomic systems
• Generalized nonholonomic mechanics, servomechanisms and related brackets

Cites work

• Dirac Brackets in Constrained Dynamics
• scientific article; zbMATH DE number 194967 (Why is no real title available?)
• Linear almost Poisson structures and Hamilton-Jacobi equation. Applications to nonholonomic mechanics
• Nonholonomic constraints: a new viewpoint
• Nonholonomic reduction
• On almost-Poisson structures in nonholonomic mechanics
• On almost-Poisson structures in nonholonomic mechanics: II. The time-dependent framework
• On the geometry of non-holonomic Lagrangian systems
• On the Hamiltonian formulation of nonholonomic mechanical systems
• The Hamiltonian dynamics of non-holonomic systems
• The quantum mechanics of non-holonomic systems

Cited in

(4)

• A new perspective on nonholonomic brackets and Hamilton-Jacobi theory
• Hamilton-Jacobi theory for nonholonomic and forced hybrid mechanical systems
• Hamiltonian-based neural networks for systems under nonholonomic constraints
• Dirac structures in nonholonomic mechanics

This page was built for publication: Nonholonomic brackets: Eden revisited

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6138220)