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

DOI10.3934/JGM.2009.1.35MaRDI QIDQ834816zbMATH OpenOpenAlexFDO

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

Chaplygin's ballHamiltonizationnon-holonomic systems

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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Cited in

(19)

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

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