Contact bundle formulation of nonholonomic Maupertuis-Jacobi principle and a length minimizing property of nonholonomic dynamics

arXiv2104.13178MaRDI QIDQ6366243FDOQ6366243

Alexandre Anahory Simoes, David Martín de Diego, Juan Carlos Marrero

Publication date: 27 April 2021

Abstract: We prove a nonholonomic version of the classical Mauper-tuis-Jacobi principle which transforms an autonomous mechanical nonholonomic problem, determined by a kinetic minus potential energy and a distribution, in a kinetic nonholonomic problem over a fixed level set of the Lagrangian energy. To prove this result we introduce an appropriate contact bundle structure clarifying the geometric equivalence between both problems. By using the nonholonomic Maupertuis-Jacobi principle, we prove that the regular solutions of a mechanical nonholonomic problem starting from a fixed point and in the same level set of the Lagrangian energy are reparametrizations of geodesics for a family of Riemannian metrics defined on the image of the nonholonomic exponential map. In particular, these trajectories minimize Riemannian length.

Mathematics Subject Classification ID

Local Riemannian geometry (53B20) Methods of global Riemannian geometry, including PDE methods; curvature restrictions (53C21) 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) Nonholonomic dynamical systems (37J60)

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