Gauge momenta as Casimir functions of nonholonomic systems
Dynamical Systems
2026-03-03 v3
Abstract
We consider nonholonomic systems with symmetry possessing a certain type of first integrals that are linear in the velocities. We develop a systematic method for modifying the standard nonholonomic almost Poisson structure that describes the dynamics so that these integrals become Casimir functions after reduction. This explains a number of recent results on Hamiltonization of nonholonomic systems, and has consequences for the study of relative equilibria in such systems.
Keywords
Cite
@article{arxiv.1610.05618,
title = {Gauge momenta as Casimir functions of nonholonomic systems},
author = {Luis C. Garcia-Naranjo and James Montaldi},
journal= {arXiv preprint arXiv:1610.05618},
year = {2026}
}
Comments
31 pages, 1 figure