Related papers: Hamiltonization and Integrability of the Chaplygin…

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…

We study a time reparametrisation of the Newton type equations on Riemannian manifolds slightly modifying the Chaplygin multiplier method, allowing us to consider the Chaplygin method and the Maupertuis principle within a unified framework.…

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 consider a nonholonomic system describing a rolling of a dynamically non-symmetric sphere over a fixed sphere without slipping. The system generalizes the classical nonholonomic Chaplygin sphere problem and it is shown to be integrable…

We introduce and study the Chaplygin systems with gyroscopic forces. This natural class of nonholonomic systems has not been treated before. We put a special emphasis on the important subclass of such systems with magnetic forces. The…

We study the rolling of the Chaplygin ball in $\mathbb R^n$ over a fixed $(n-1)$--dimensional sphere without slipping and without slipping and twisting. The problems can be naturally considered within a framework of appropriate…

We consider coupled nonholonomic LR systems on the product of Lie groups. As examples, we study $n$-dimensional variants of the spherical support system and the rubber Chaplygin sphere. For a special choice of the inertia operator, it is…

A generalisation of Chaplygin's Reducing Multiplier Theorem is given by providing sufficient conditions for the Hamiltonisation of Chaplygin nonholonomic systems with an arbitrary number $r$ of degrees of freedom via Chaplygin's multiplier…

We consider the multi-dimensional generalisation of the problem of a sphere, with axi-symmetric mass distribution, that rolls without slipping or spinning over a plane. Using recent results from Garc\'ia-Naranjo (arXiv: 1805:06393) and…

We consider the $n$-dimensional Chaplygin sphere under the assumption that the mass distribution of the sphere is axisymmetric. We prove that for initial conditions whose angular momentum about the contact point is vertical, the dynamics is…

We discuss two polynomial bi-Hamiltonian structures for the generalized integrable Chaplygin system on the sphere S^2 with an additional integral of fourth order in momenta. An explicit procedure to find the variables of separation, the…

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…

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.…

The generalization of (super)integrable Euclidean classical Hamiltonian systems to the two-dimensional sphere and the hyperbolic space by preserving their (super)integrability properties is reviewed. The constant Gaussian curvature of the…

We develop Hamilton-Jacobi theory for Chaplygin systems, a certain class of nonholonomic mechanical systems with symmetries, using a technique called Hamiltonization, which transforms nonholonomic systems into Hamiltonian systems. We give a…

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 prove that any $n$-dimensional Hamiltonian operator with pure point spectrum is completely integrable via self-adjoint first integrals. Furthermore, we establish that given any closed set $\Sigma\subset\mathbb R$ there exists an…

A few years ago, some of us devised a method to obtain integrable systems in (2+1)-dimensions from the classical non-Abelian pure Chern-Simons action via reduction of the gauge connection in Hermitian symmetric spaces. In this paper we show…

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…

We study the space of periodic solutions of the elliptic $\sinh$-Gordon equation by means of spectral data consisting of a Riemann surface $Y$ and a divisor $D$. We show that the space $M_g^{\mathbf{p}}$ of real periodic finite type…