G-Chaplygin systemswith internal symmetries, truncation, and an (almost) symplecticview of Chaplygin's ball

DOI10.3934/JGM.2009.1.35MaRDI QIDQ834816zbMATHOpenAlexFDO

Authors Simon Hochgerner, Luis C. García-Naranjo

Publication date 27 August 2009

Published in Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/0810.5454

zbMATH Keywords

non-holonomic systemsHamiltonizationChaplygin's ball

Mathematics Subject Classification ID

Momentum maps; symplectic reduction (53D20) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Abstract: Via compression ([11, 7]) we write the $n$-dimensional Chaplygin sphere system as an almost Hamiltonian system on $T^{\ast }SO(n)$ with internal symmetry group $SO(n-1)$. We show how this symmetry group can be factored out, and pass to the fully reduced system on (a fiber bundle over) $T^{\ast }{S}^{n-1}$. This approach yields an explicit description of the reduced system in terms of the geometric data involved. Due to this description we can study Hamiltonizability of the system. It turns out that the homogeneous Chaplygin ball, which is not Hamiltonian at the $T^{\ast }SO(n)$-level is Hamiltonian at the $T^{\ast }{S}^{n-1}$-level. Moreover, the 3-dimensional ball becomes Hamiltonian at the $T^{\ast }{S}^2$-level after time reparametrization, whereby we re-prove a result of [4, 5] in symplecto-geometric terms. We also study compression followed by reduction of generalized Chaplygin systems.

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(18)

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• Integrability of the \(n\)-dimensional axially symmetric Chaplygin sphere
• Hamilton-Jacobi theory for degenerate Lagrangian systems with holonomic and nonholonomic constraints
• The Jacobiator of nonholonomic systems and the geometry of reduced nonholonomic brackets
• The geometry of nonholonomic Chaplygin systems revisited
• On twisted contact groupoids and on integration of twisted Jacobi manifolds
• Momentum map reduction for nonholonomic systems
• Poisson structures for two nonholonomic systems with partially reduced symmetries
• Chaplygin systems associated to Cartan decompositions of semi-simple Lie groups
• Cartan meets Chaplygin
• Rolling balls over spheres in $ \newcommand{\m}{\mathfrak m} {\mathbb{R}^n}$
• Symplectic reduction of holonomic open-chain multi-body systems with constant momentum
• Nonholonomic Hamilton-Jacobi theory via Chaplygin Hamiltonization
• Hamiltonization of the generalized Veselova LR system
• Hamiltonization and integrability of the Chaplygin sphere in \(\mathbb R^{n}\)
• Symmetries of line bundles and Noether theorem for time-dependent nonholonomic systems
• Gauge transformations, twisted Poisson brackets and Hamiltonization of nonholonomic systems
• Stochastic Chaplygin systems

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