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On the nonlinear Poisson bracket arising in nonholonomic mechanics |
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| Authors: | A V Borisov I S Mamaev A V Tsyganov |
| Institution: | 1. Udmurt State University, Izhevsk, Russia 4. Machine Construction Institute, Russian Academy of Sciences, Moscow, Russia 5. Institute of Mathematics and Mechanics, Ural Branch, Russian Academy of Sciences, Ekaterinburg, Russia 6. Russian Academy of Sciences, Ekaterinburg, Russia 3. St. Petersburg State University, St. Petersburg, Russia |
| Abstract: | Nonholonomic systems describing the rolling of a rigid body on a plane and their relationship with various Poisson structures are considered. The notion of generalized conformally Hamiltonian representation of dynamical systems is introduced. In contrast to linear Poisson structures defined by Lie algebras and used in rigid-body dynamics, the Poisson structures of nonholonomic systems turn out to be nonlinear. They are also degenerate and the Casimir functions for them can be expressed in terms of complicated transcendental functions or not appear at all. |
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