Related papers: Hamiltonization of Elementary Nonholonomic Systems

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…

We show that the Suslov nonholonomic rigid body problem can be regarded almost everywhere as a generalized Chaplygin system. Furthermore, this provides a new example of a multidimensional nonholonomic system which can be reduced to a…

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…

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 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 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…

The theory of feedback integrators is extended to handle mechanical systems with nonholonomic constraints with or without symmetry, so as to produce numerical integrators that preserve the nonholonomic constraints as well as other conserved…

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 nonholonomic Chaplygin systems and associate to them a $(1,2)$ tensor field on the shape space, that we term the gyroscopic tensor, and that measures the interplay between the non-integrability of the constraint distribution and…

We construct different almost Poisson brackets for nonholonomic systems than those existing in the literature and study their reduction. Such brackets are built by considering non-canonical two-forms on the cotangent bundle of configuration…

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 derive Hamel equations for the motion of nonholonomic systems subject to inequality constraints in quasivelocities. As examples, the vertical rolling disk hitting a wall and the Chaplygin sleigh with a knife edge constraint…

We mimic the stochastic Hamiltonian reduction of Lazaro-Cami and Ortega [17, 18] for the case of certain non-holonomic systems with symmetries. Using the non-holonomic connection it is shown that the drift of the stochastically perturbed…

Geometric optimal control utilizes tools from differential geometry to analyze the structure of a problem to determine the control and state trajectories to reach a desired outcome while minimizing some cost function. For a controlled…

We study relations between vakonomically and nonholonomically constrained Lagrangian dynamics for the same set of linear constraints. The basic idea is to compare both situations at the level of variational principles, not equations of…

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…

In this paper we study a Hamiltonization procedure for mechanical systems with velocity-depending (nonholonomic) constraints. We first rewrite the nonholonomic equations of motion as Euler-Lagrange equations, with a Lagrangian that follows…

This paper presents a reduction procedure for nonholonomic systems admitting suitable types of symmetries and conserved quantities. The full procedure contains two steps. The first (simple) step results in a Chaplygin system, described by…

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…

In this paper, we present a collection of infinite-dimensional systems with nonholonomic constraints. In finite dimensions the two essentially different types of dynamics, nonholonomic or vakonomic ones, are known to be obtained by taking…