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 proved that the rubber Chaplygin sphere, after reduction and a time reparametrization becomes an integrable Hamiltonian system on the $(n-1)$--dimensional sphere. Also, we showed that an arbitrary L+R system introduced by Fedorov can be seen as a reduced system of an appropriate coupled LR system.
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 motion as has been done so far. The method seems to be quite powerful and effective. In particular, it allows to derive, interpret and generalize many known results on non-Abelian Chaplygin systems. We apply it also to a class of systems on Lie groups with a left-invariant constraints distribution. Concrete examples of the unicycle in a potential field, the two-…
We discuss linear in momenta Poisson structure for the generalized nonholonomic Chaplygin sphere problem and prove that it is non-trivial deformation of the canonical Poisson structure on e^*(3).
We consider nonholonomic systems whose configuration space is the central extension of a Lie group and have left invariant kinetic energy and constraints. We study the structure of the associated Euler-Poincare-Suslov equations and show that there is a one-to-one correspondence between invariant measures on the original group and on the extended group. Our results are applied to the hydrodynamic Chaplygin sleigh, that is, a planar rigid body that moves in a potential flow subject to a nonholonomic constraint modeling a fin or keel attached to the body, in the case where there is circulation ar…
We discuss the Poisson structures, Lax matrices, $r$-matrices, bi-hamiltonian structures, the variables of separation and other attributes of the modern theory of dynamical systems in application to the integrable Euler top and to the nonholonomic Chaplygin ball.
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 geometric account of the Hamiltonization, identify necessary and sufficient conditions for Hamiltonization, and apply the conventional Hamilton-Jacobi theory to the Hamiltonized systems. We show, under a certain sufficient condition for Hamiltonization, that the solutions to the Hamilton-Jacobi equation associated with the Hamiltonized system also solve 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 the extension of the Theorem to nonholonomic Chaplygin systems with nonabelian symmetry groups as well as Euler-Poincare-Suslov systems in arbitrary degrees of freedom. In the latter case, we also extend the Hamiltonization Theorem to nonholonomic systems which do not possess an invariant measure. Lastly, we extend previous work on conditionally variational …
The rolling of a dynamically balanced ball on a horizontal rough table without slipping was described by Chaplygin using Abel quadratures. We discuss integrable discretizations and deformations of this nonholonomic system using the same Abel quadratures. As a by-product one gets new geodesic flow on the unit two-dimensional sphere whose additional integrals of motion are polynomials in the momenta of fourth order.
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 method. The crucial point in the construction is to add an hypothesis of geometric nature that controls the interplay between the kinetic energy metric and the non-integrability of the constraint distribution. Such hypothesis can be systematically examined in concrete examples, and is automatically satisfied in the case $r= 2$ encountered in the original for…
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 the kinetic energy metric. We show how this tensor may be naturally used to derive an almost symplectic description of the reduced dynamics. Moreover, we express sufficient conditions for measure preservation and Hamiltonisation via Chaplygin's reducing multiplier method in terms of the properties of this tensor. The theory is used to give a new proof of th…
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. As an example, the reduced nonholonomic problem of rolling without slipping and twisting of an $n$-dimensional balanced ball over a fixed sphere is considered. For a special inertia operator (depending on $n$ parameters) we prove complete integrability when the radius of the ball is twice the radius of the sphere. In the case of $SO(l)\times SO(n-l)$ symmet…
We consider the possibility of using Dirac's ideas of the deformation of Poisson brackets in nonholonomic mechanics. As an example, we analyze the composition of external forces that do no work and reaction forces of nonintegrable constraints in the model of a nonholonomic Chaplygin sphere on a plane. We prove that, when a solenoidal field is applied, the general mechanical energy, the invariant measure and the conformally Hamiltonian representation of the equations of motion are preserved. In addition, we consider the case of motion of the nonholonomic Chaplygin sphere in a constant magnetic …
The paper studies a natural $n$-dimensional generalization of the classical nonholonomic Chaplygin sphere problem. We prove that for a specific choice of the inertia operator, the restriction of the generalized problem onto zero value of the SO(n-1)-momentum mapping becomes an integrable Hamiltonian system after an appropriate time reparametrization.
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 García-Naranjo (arXiv: 1805:06393) and García-Naranjo and Marrero (arXiv: 1812.01422), we show that the reduced equations of motion possess an invariant measure and may be represented in Hamiltonian form by Chaplygin's reducing multiplier method. We also prove a general result on the existence of first integrals for certain Hamiltonisable Chaplygin systems with internal symmetries that is used to deter…
We consider the motion of rigid bodies in a potential fluid subject to certain nonholonomic constraints and show that it is described by Euler--Poincaré--Suslov equations. In the 2-dimensional case, when the constraint is realized by a blade attached to the body, the system provides a hydrodynamic generalization of the Chaplygin sleigh, whose dynamics are studied in detail. Namely, the equations of motion are integrated explicitly and the asymptotic behavior of the system is determined. It is shown how the presence of the fluid brings new features to such a behavior.
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 2-dimensional nonlinear system, which is integrated explicitly. We show that the reduced system comprises both asymptotic and periodic dynamics separated by a critical value of the energy, and give a complete classification of types of the motion. Then we describe the whole variety of the trajectories of the body on the plane.
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 existence of an invariant measure and the problem of Hamiltonization are studied, both within the Lagrangian and the almost-Hamiltonian framework. In addition, we introduce problems of rolling of a ball with the gyroscope without slipping and twisting over a plane and over a sphere in $\mathbb R^n$ as examples of gyroscopic $SO(n)$--Chaplygin systems. We describe…
