A generalization of Chaplygin's reducibility theorem

DOI10.1134/S1560354709060033zbMATH Open1229.37087arXiv0909.4018MaRDI QIDQ653258FDOQ653258

O. E. Fernandez, Anthony M. Bloch, Tom Mestdag

Publication date: 9 January 2012

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Abstract: In this paper we study Chaplygin's Reducibility Theorem and extend its applicability to nonholonomic systems with symmetry described by the Hamilton-Poincare-d'Alembert equations in arbitrary degrees of freedom. As special cases we extract the extension of the Theorem to nonholonomic Chaplygin systems with nonabelian symmetry groups as well as Euler-Poincare-Suslov systems in arbitrary degrees of freedom. In the latter case, we also extend the Hamiltonization Theorem to nonholonomic systems which do not possess an invariant measure. Lastly, we extend previous work on conditionally variational systems using the results above. We illustrate the results through various examples of well-known nonholonomic systems.

Full work available at URL: https://arxiv.org/abs/0909.4018

zbMATH Keywords

nonholonomic systemsHamiltonizationreducing multiplier

Mathematics Subject Classification ID

Poisson manifolds; Poisson groupoids and algebroids (53D17) Nonholonomic systems related to the dynamics of a system of particles (70F25) Hamilton's equations (70H05) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Nonholonomic dynamical systems (37J60)

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Cited In (24)

• Structure preserving discretization of time-reparametrized Hamiltonian systems with application to nonholonomic mechanics
• A generalization of Hall-Higman's reduction theorem
• To a theorem of Isaacs on the casus irreducibilis phenomenon
• 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
• The Weitzenböck connection and time reparameterization in nonholonomic mechanics
• An Institution-independent Generalization of Tarski's Elementary Chain Theorem
• Hamiltonization and separation of variables for a Chaplygin ball on a rotating plane
• Motion measurement of a two-wheeled skateboard and its dynamical simulation
• The geometry and integrability of the Suslov problem
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• Non-erasing Variants of the Chomsky–Schützenberger Theorem
• Nonholonomic Hamilton-Jacobi theory via Chaplygin Hamiltonization
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• The dynamics of nonholonomic systems consisting of a spherical shell with a moving rigid body inside
• Generalisation of Chaplygin’s reducing multiplier theorem with an application to multi-dimensional nonholonomic dynamics
• Topological monodromy as an obstruction to Hamiltonization of nonholonomic systems: pro or contra?
• On the geometry of generalized Chaplygin systems
• Hamiltonization of solids of revolution through reduction
• A Global Version of the Koon-Marsden Jacobiator Formula
• Topological monodromy in nonholonomic systems
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• Poincaré transformations in nonholonomic mechanics
• Nonlinear nonholonomic systems: a simple approach and various examples

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