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On almost-Poisson structures in nonholonomic mechanics

AuthorsCantrijn, Frans; León, Manuel de; Martín de Diego, David
Issue Date1999
PublisherInstitute of Physics Publishing
CitationNonlinearity 12: 721- 737 (1999)
AbstractIn this paper we intend to unify different approaches to the construction of an 'almost-Poisson' bracket for mechanical systems with nonholonomic constraints. This almost-Poisson structure is subsequently used to describe the phase-space dynamics of a nonholonomic system. It is shown that when dealing with 'nonhomogeneous' constraints, the Hamiltonian equations of motion cannot be expressed in terms of the almost-Poisson bracket alone. This fact is illustrated in the case of mechanical systems with affine constraints. The problem of a rolling ball on a rotating table is treated as an example. © 1999 IOP Publishing Ltd and LMS Publishing Ltd
Identifiersdoi: 10.1088/0951-7715/12/3/316
issn: 0951-7715
Appears in Collections:(CFMAC-IFF) Artículos
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