Related papers: Momentum map reduction for nonholonomic systems
A Lie system is a non-autonomous system of first-order ordinary differential equations describing the integral curves of a non-autonomous vector field taking values in a finite-dimensional real Lie algebra of vector fields, a so-called…
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…
In this paper we propose a process of lagrangian reduction and reconstruction for nonholonomic discrete mechanical systems where the action of a continuous symmetry group makes the configuration space a principal bundle. The result of the…
We present a generalized reduction procedure which encompasses the one based on the momentum map and the projection method. By using the duality between manifolds and ring of functions defined on them, we have cast our procedure in an…
We describe a reduction process for symplectic principal $\mathbb{R}$-bundles in the presence of a momentum map. This type of structures plays an important role in the geometric formulation of non-autonomous Hamiltonian systems. We apply…
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…
This paper discusses reduction by symmetries for autonomous and non-autonomous forced mechanical systems with inelastic collisions. In particular, we introduce the notion of generalized hybrid momentum map and hybrid constants of the motion…
This text presents some basic notions in symplectic geometry, Poisson geometry, Hamiltonian systems, Lie algebras and Lie groups actions on symplectic or Poisson manifolds, momentum maps and their use for the reduction of Hamiltonian…
Nonholonomic mechanical systems have been attracting more interest in recent years because of their rich geometric properties and their applications in Engineering. In all generality, we discuss the reduction of a Hamilton-Jacobi theory for…
We consider the motion of a planar rigid body in a potential flow with circulation and subject to a certain nonholonomic constraint. This model is related to the design of underwater vehicles. The equations of motion admit a reduction to a…
This is a survey article, from the viewpoint of the completeness of the Marsden- Weinstein reduction, to introduce briefly some recent developments of the symmetric reductions and Hamilton-Jacobi theory of the regular controlled Hamiltonian…
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…
Some aspects of the geometry and the dynamics of generalized Chaplygin systems are investigated. First, two different but complementary approaches to the construction of the reduced dynamics are reviewed: a symplectic approach and an…
We analyze two reduction methods for nonholonomic systems that are invariant under the action of a Lie group on the configuration space. Our approach for obtaining the reduced equations is entirely based on the observation that the dynamics…
In 1986, Albert proposed a Marsden-Weinstein reduction process for cosymplectic structures. In this paper, we present the limitations of this theory in the application of the reduction of symmetric time-dependent Hamiltonian systems. As a…
We construct complete sets of invariant quantities that are integrals of motion for two Hamiltonian systems obtained through a reduction procedure, thus proving that these systems are maximally superintegrable. We also discuss the reduction…
This paper transfers the concept of moment matching to nonlinear structural systems and further provides a simulation-free reduction scheme for such nonlinear second-order models. After first presenting the steady-state interpretation of…
The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…
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 introduce the notion of a weak (homotopy) moment map associated to a Lie group action on a multisymplectic manifold. We show that the existence/uniqueness theory governing these maps is a direct generalization from symplectic geometry.…