The intrinsic linearization of equilibria of nonholonomic systems

The linearization of equilibria of Hamiltonian systems is Hamiltonian; this has well-known and important implications for the spectrum. The analogous statement for nonholonomic systems is provided. It follows, for example, that the linearization of the ground state of a nonholonomic system is always Hamiltonian.     

Lie symmetries and conserved quantities of discrete nonholonomic Hamiltonian systems

This paper focuses on studying Lie symmetries and conserved quantities of discrete nonholonomic Hamiltonian systems. Firstly, the discrete generalized Hamiltonian canonical equations and discrete energy equation of nonholonomic Hamiltonian systems are derived from discrete Hamiltonian action. Secondly, the determining equations and structure equation of Lie symmetry of the system are obtained. Thirdly, the Lie theorems and the conservation quantities are given for the discrete nonholonomic Hamiltonian systems. Finally, an example is discussed to illustrate the application of the results.     

Lie Symmetrical Perturbation and Adiabatic Invariants of Generalized Hojman Type for Disturbed Nonholonomic Systems

For a nonholonomic mechanics system with the action of small disturbance, the Lie symmetrical perturbation and adiabatic invariants of generalized Hojman type are studied under general infinitesimal transformations of groups in which the generalized coordinates and time are variable. On the basis of the invariance of disturbed nonholonomic dynamical equations under general infinitesimal transformations, the determining equations, the constrained restriction equations and the additional restriction equations of Lie symmetries of the system are constructed, which only depend on the variables t, qs and q^.s. Based on the definition of higher-order adiabatic invariants of a mechanical system, the perturbation of Lie symmetries for a nonholonomic system with the action of small disturbance is investigated, and the Lie symmetrical adiabatic invariants, the weakly Lie symmetrical adiabatic invariants and the strongly Lie symmetrical adiabatic invariants of generalized Hojman type of disturbed nonholonomic systems are obtained. An example is given to illustrate applications of the results.     

El-Nabulsi动力学模型下非Chetaev型非完整系统的精确不变量与绝热不变量

研究El-Nabulsi动力学模型下非Chetaev型非完整系统精确不变量与绝热不变量问题. 首先, 导出El-Nabulsi-d'Alembert-Lagrange原理并建立系统的运动微分方程. 其次, 建立El-Nabulsi模型下未受扰动的非Chetaev 型非完整系统的Noether对称性与Noether对称性导致的精确不变量之间的关系; 再次, 引入力学系统的绝热不变量概念, 研究受小扰动作用下非Chetaev型非完整系统Noether对称性的摄动导致绝热不变量问题, 给出了绝热不变量存在的条件及其形式. 作为特例, 本文讨论了El-Nabulsi模型下Chetaev型非完整系统的精确不变量与绝热不变量问题. 最后分别给出非Chetaev型和Chetaev型两种约束下的算例以说明结果的应用.     

Perturbation to symmetries and Hojman adiabatic invariant for nonholonomic controllable mechanical systems with non-Chetaev type constraints

This paper studies the perturbation to symmetries and adiabatic invariant for nonholonomic controllable mechanical systems with non-Chetaev type constraints. It gives the exact invariants introduced by the Lie symmetries of the nonholonomic controllable mechanical system with non-Chetaev type constraints without perturbation. Based on the definition of high-order adiabatic invariants of mechanical system, the perturbation of Lie symmetries for nonholonomic controllable mechanical system with non-Chetaev type constraints with the action of small disturbances is investigated, and a new type of adiabatic invariant of system are obtained. In the end of this paper, an example is given to illustrate the application of the results.     

Quantization of a nonholonomic system

In this Letter, we consider the problem of quantizing a nonholonomic system. This is highly nontrivial since such a system, which is subject to nonholonomic constraints, is not variational (or Hamiltonian). Our approach is to couple the system to a field which enforces the constraint in a suitable limit. We consider a simple but representative nonholonomic system, the Chaplygin sleigh. We then quantize the full (Hamiltonian) system. This system exhibits a key complicating feature of some nonholonomic systems-internal dissipative dynamics.     

Non-Noether symmetries and Lutzky conservative quantities of nonholonomic nonconservative dynamical systems

Non-Noether symmetries and conservative quantities of nonholonomic nonconservative dynamical systems are investigated in this paper. Based on the relationships among motion, nonconservative forces, nonholonomic constrained forces and Lagrangian, non-Noether symmetries and Lutzky conservative quantities are presented for nonholonomic nonconservative dynamical systems. The relation between non-Noether symmetry and Noether symmetry is discussed and it is further shown that non-Noether conservative quantities can be obtained by a complete set of Noether invariants. Finally,an example is given to illustrate these results.     

Higher-order Hamiltonian fluid reduction of Vlasov equation

From the Hamiltonian structure of the Vlasov equation, we build a Hamiltonian model for the first three moments of the Vlasov distribution function, namely, the density, the momentum density and the specific internal energy. We derive the Poisson bracket of this model from the Poisson bracket of the Vlasov equation, and we discuss the associated Casimir invariants.     

Perturbation to Mei Symmetry and Generalized Mei Adiabatic Invariants for Nonholonomic Systems in Terms of Quasi-Coordinates

By introducing the coordination function f, the generalized Mei conserved quantities for the nonholonomic systems in terms of quasi-coordinates are given. Then based on the concept of adiabatic invariant, the perturbation to Mei symmetry and the generalized Mei adiabatic invariants for nonholonomic systems in terms of quasi-coordinates are studied.     

Noether conserved quantities and Lie point symmetries for difference nonholonomic Hamiltonian systems in irregular lattices

The Noether conserved quantities and the Lie point symmetries for difference nonholonomic Hamiltonian systems in irregular lattices are studied. The generalized Hamiltonian equations of the systems are given on the basis of the transformation operators in the space of discrete Hamiltonians. The Lie transformations acting on the lattice, as well as the equations and the determining equations of the Lie symmetries are obtained for the nonholonomic Hamiltonian systems. The discrete analogue of the Noether conserved quantity is constructed by using the Lie point symmetries. An example is discussed to illustrate the results.     

约束哈密顿系统在相空间中的精确不变量与绝热不变量

研究小干扰力作用下约束哈密顿系统对称性的摄动问题.建立了非保守约束哈密顿系统的正则方程,在增广相空间中研究了系统的对称性与精确不变量.基于力学系统的高阶绝热不变量的概念,给出了系统的各阶绝热不变量的形式及存在条件,并建立了绝热不变量与对称变换之间的对应关系 关键词： 约束哈密顿系统 对称性 摄动 不变量     

Perturbation and Adiabatic Invariants of Mei Symmetry for Nonholonomic Mechanical Systems

Based on the concept of adiabatic invariant, the perturbation and adiabatic invariants of the Mei symmetry for nonholonomic mechanical systems are studied. The exact invariants of the Mei symmetry for the system without perturbation are given. The perturbation to the Mei symmetry is discussed and the adiabatic invariants of the Mei symmetry for the perturbed system are obtained.     

Energy-Work Connection Integration Scheme for Nonholonomic Hamiltonian Systems

This paper focuses on studying a new energy-work relationship numerical integration scheme of nonholonomic Hamiltonian systems. The signal-stage numerical, multi-stage and parallel composition numerical integration schemes are presented. The high-order energy-work relation scheme of the system is constructed by a parallel connection of n multi-stage schemes of order 2, its order of accuracy is 2n. The connection, which is discrete analogue of usual case, between the change of energy and work of nonholonomic constraint forces is obtained for nonholonomic Hamiltonian systems. This paper also gives that there is smaller error of the scheme when taking a large number of stages than a less one. Finally, an applied example is discussed to illustrate these results.     

Mei Adiabatic Invariants Induced by Perturbation of Mei Symmetry forNonholonomic Controllable Mechanical Systems

Two types of Mei adiabatic invariants induced by perturbation of Mei symmetry for nonholonomic controllable mechanical systems are reported. Criterion and restriction equations determining Mei symmetry after being disturbed of the system are established. Form and existence condition of Mei adiabatic invariants are obtained.     

Perturbation to Symmetries and Adiabatic Invariants of Nonholonomic System in Terms of Quasi-coordinates

Based on the theory of Lie symmetries and conserved quantities, the exact invariants and adiabatic invariants of nonholonomic system in terms of quasi-coordinates are studied. The perturbation to symmetries for the nonholonomic system in terms of quasi-coordinates under small excitation is discussed. The concept of high-order adiabatic invariant is presented, and the forms of exact invariants and adiabatic invariants as well as the conditions for their existence are given. Then the corresponding inverse problem is studied.     

Noether symmetries of discrete nonholonomic dynamical systems

In this letter, we investigate Noether symmetries and conservation laws of discrete dynamical systems on an uniform lattice with the nonholonomic constraints. Based on the quasi-invariance of discrete Hamiltonian action of the systems under the infinitesimal transformation with respect to the time and generalized coordinates, we give the discrete analogue of generalized variational formula of the systems. From this formula we derive the discrete analogue of generalized Noether-type identity, and then we present the generalized quasi-extremal equations of the systems. We also obtain the discrete analogue of Noether theorems and the discrete analogue of Noether conservation laws of the systems. Finally, an example is discussed to illustrate these results.     

Perturbation to Symmetries and Adiabatic Invariants of Nonholonomic System in Terms of Quasi-coordinates

Based on the theory of Lie symmetries and conserved quantities, the exact invariants and adiabatic invariants of nonholonomic system in terms of quasi-coordinates are studied. The perturbation to symmetries for the nonholonomic system in terms of quasi-coordinates under small excitation is discussed. The concept of high-order adiabatic invariant is presented, and the forms of exact invariants and adiabatic invariants as well as the conditions for their existence are given. Then the corresponding inverse problem is studied.     

Poincaré-Cartan Integral Variants and Invariants of Nonholonomic Constrained Systems

Usually there does not exist an integral invariant of Poincaré-Cartan's type for a nonholonomic system because a constraint submanifold does not admit symplectic structure in general. An integral variant of Poincaré-Cartan's type, depending on the nonholonomy of the constraints and nonconservative forces acting on the system, is derived from D'Alembert-Lagrange principle. For some nonholonomic constrained mechanical systems, there exists an alternative Lagrangian which determines the symplectic structure of a constraint submanifold. The integral invariants can then be constructed for such systems.     

Perturbation to symmetries and adiabatic invariants of a type of nonholonomic singular system

Based on the theory of symmetries and conserved quantities, the perturbation to the symmetries and adiabatic invariants of a type of nonholonomic singular system are discussed. Firstly, the concept of higher order adiabatic invariants of the system is proposed. Secondly, the conditions for existence of the exact invariants and adiabatic invariants are proved, and their forms are given. Thirdly, we study the inverse problems of the perturbation to symmetries of the system. An example is presented to illustrate these results.     

Topological monodromy as an obstruction to Hamiltonization of nonholonomic systems: Pro or contra?

The phenomenon of a topological monodromy in integrable Hamiltonian and nonholonomic systems is discussed. An efficient method for computing and visualizing the monodromy is developed. The comparative analysis of the topological monodromy is given for the rolling ellipsoid of revolution problem in two cases, namely, on a smooth and on a rough plane. The first of these systems is Hamiltonian, the second is nonholonomic. We show that, from the viewpoint of monodromy, there is no difference between the two systems, and thus disprove the conjecture by Cushman and Duistermaat stating that the topological monodromy gives a topological obstruction for Hamiltonization of the rolling ellipsoid of revolution on a rough plane.