Related papers: Reduction of Almost Poisson brackets and Hamiltoni…
In this paper we study the problem of Hamiltonization of nonholonomic systems from a geometric point of view. We use gauge transformations by 2-forms (in the sense of Severa and Weinstein [29]) to construct different almost Poisson…
In this paper, we consider the hamiltonian formulation of nonholonomic systems with symmetries and study several aspects of the geometry of their reduced almost Poisson brackets, including the integrability of their characteristic…
Borisov, Mamaev and Kilin have recently found certain Poisson structures with respect to which the reduced and rescaled systems of certain non-holonomic problems, involving rolling bodies without slipping, become Hamiltonian, the…
A nonholonomic system consists of a configuration space Q, a Lagrangian L, and an nonintegrable constraint distribution H, with dynamics governed by Lagrange-d'Alembert's principle. We present two studies both using adapted moving frames.…
We consider some issues of the representation in the Hamiltonian form of two problems of nonholonomic mechanics, namely, the Chaplygin's ball problem and the Veselova problem. We show that these systems can be written as generalized…
Non-self-adjoint dynamical systems, e.g., nonholonomic systems, can admit an almost Poisson structure, which is formulated by a kind of Poisson bracket satisfying the usual properties except for the Jacobi identity. A general theory of the…
We extend known constructions of almost-Poisson brackets and their gauge transformations to nonholonomic systems whose Lagrangian is not mechanical but possesses a gyroscopic term linear in the velocities. The new feature introduced by such…
We discuss an embedding of a vector field for the nonholonomic Routh sphere into a subgroup of commuting Hamiltonian vector fields on six dimensional phase space. The corresponding Poisson brackets are reduced to the canonical Poisson…
The celebrated problem of a non-homogeneous sphere rolling over a horizontal plane was proved to be integrable and was reduced to quadratures by Chaplygin. Applying the formalism of variational integrators (discrete Lagrangian systems) with…
We develop the reducing multiplier theory for a special class of nonholonomic dynamical systems and show that the non-linear Poisson brackets naturally obtained in the framework of this approach are all isomorphic to the Lie-Poisson…
We relate a Chaplygin type system to a Cartan decomposition of a real semi-simple Lie group. The resulting system is described in terms of the structure theory associated to the Cartan decomposition. It is shown to possess a preserved…
This paper studies hamiltonization of nonholonomic systems using geometric tools. By making use of symmetries and suitable first integrals of the system, we explicitly define a global 2-form for which the gauge transformed nonholonomic…
In this note the notion of Poisson brackets in Kontsevich's "Lie World" is developed. These brackets can be thought of as "universally" defined classical Poisson structures, namely formal expressions only involving the structure maps of a…
In this paper, we develop the Chaplygin reducing multiplier method; using this method, we obtain a conformally Hamiltonian representation for three nonholonomic systems, namely, for the nonholonomic oscillator, for the Heisenberg system,…
Via compression ([11, 7]) we write the $n$-dimensional Chaplygin sphere system as an almost Hamiltonian system on $T^*SO(n)$ with internal symmetry group $SO(n-1)$. We show how this symmetry group can be factored out, and pass to the fully…
Double (quasi-)Poisson brackets were introduced on associative algebras by Van den Bergh to induce a (quasi-)Poisson structure on their representation spaces naturally equipped with a $\mathrm{GL}$-action (type $\mathtt{A}$). If there…
We study the relativistic formulation of a classical time-dependent nonholonomic Lagrangian mechanics from the perspective of moving frames. We also introduce time-dependent $G$-Chaplygin systems with affine constraints, which are natural…
We discuss a non-Hamiltonian vector field appearing in consideration of a partial motion of the Chaplygin ball rolling on a horizontal plane which rotates with constant angular velocity. In two partial cases this vector field is expressed…
We study the transverse Poisson structure to adjoint orbits in a complex semi-simple Lie algebra. The problem is first reduced to the case of nilpotent orbits. We prove then that in suitably chosen quasi-homogeneous coordinates the…
We consider the questions connected with the Hamiltonian properties of the Whitham equations in case of several spatial dimensions. An essential point of our approach here is a connection of the Hamiltonian structure of the Whitham system…