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arXiv math-ph/0401054math-phmath.MP
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约化非完整系统的Poisson结构

Poisson structures for reduced non-holonomic systems

Arturo Ramos

摘要:

鲍里索夫,马马耶夫和Kilin最近发现了某些泊松结构,相对于某些非完整问题,涉及滚动体没有滑动,减少和重新标度的系统,成为哈密尔顿,哈密尔顿函数是减少的能量。我们进一步研究了这些泊松结构的代数起源,表明它们是秩2,因此没有必要进行上述的重新标度。我们表明,它们是确定的,直到一个非零因子函数,由一阶微分方程系统的存在提供两个积分的运动。我们推广了Poisson结构的形式,并扩展了Poisson结构的定义域。我们应用该理论的滚动盘,劳斯的领域,球滚动表面的革命,其特殊情况下的一个球滚动内的一个圆柱体。

英文摘要:

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 Hamiltonian function being the reduced energy. We study further the algebraic origin of these Poisson structures, showing that they are of rank two and therefore the mentioned rescaling is not necessary. We show that they are determined, up to a non-vanishing factor function, by the existence of a system of first-order differential equations providing two integrals of motion. We generalize the form of that Poisson structures and extend their domain of definition. We apply the theory to the rolling disk, the Routh's sphere, the ball rolling on a surface of revolution, and its special case of a ball rolling inside a cylinder.

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