Rigid Body with Rotors and Reduction by Stages

DOI10.1142/S0129055X22300060zbMATH Open1524.70005arXiv2110.11081MaRDI QIDQ6380932FDOQ6380932

Publication date: 21 October 2021

Abstract: Rigid body with rotors is a widespread mechanical system modeled after the direct product

S O (3) i m e s S^{1} i m e s S^{1} i m e s S^{1}

, which under mild assumptions is the symmetry group of the system. In this paper, the authors present and compare different Lagrangian reduction procedures: Euler-Poincar'e reduction by the whole group and reduction by stages in different orders or using different connections. The exposition keeps track of the equivalence of equations as well as corresponding conservation laws.

Mathematics Subject Classification ID

Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65) Motion of the gyroscope (70E05) Action-minimizing orbits and measures for finite-dimensional Hamiltonian and Lagrangian systems; variational principles; degree-theoretic methods (37J51)

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