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Register a new userDirac Reduction for Nonholonomic Mechanical Systems and Semidirect Products
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This paper develops the theory of Dirac reduction by symmetry for nonholonomic systems on Lie groups with broken symmetry. The reduction is carried out for the Dirac structures, as well as for the associated Lagrange-Dirac and Hamilton-Dirac dynamical systems. This reduction procedure is accompanied by reduction of the associated variational structures on both Lagrangian and Hamiltonian sides. The reduced dynamical systems obtained are called the implicit Euler-Poincare-Suslov equations with advected parameters and the implicit Lie-Poisson-Suslov equations with advected parameters. The theory is illustrated with the help of finite and infinite dimensional examples. It is shown that equations of motion for second order Rivlin-Ericksen fluids can be formulated as an infinite dimensional nonholonomic system in the framework of the present paper.
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This is the first of two companion papers. The joint aim is to study a generalization to higher dimension of the point vortex systems familiar in 2-D. In this paper we classify the momentum polytopes for the action of the Lie group SU(3) on products of copies of complex projective 4-space. For 2 copies, the momentum polytope is simply a line segment, which can sit in the positive Weyl chamber in a small number of ways. For a product of 3 copies there are 8 different types of generic momentum polytope, and numerous transition polytopes, all of which are classified here. The type of polytope depends on the weights of the symplectic form on each copy of projective space. In the second paper we use techniques of symplectic reduction to study the possible dynamics of interacting generalized point vortices. The results can be applied to determine the inequalities satisfied by the eigenvalues of the sum of up to three 3x3 Hermitian matrices with double eigenvalues.
There is a well developed and useful theory of Hamiltonian reduction for semidirect products, which applies to examples such as the heavy top, compressible fluids and MHD, which are governed by Lie-Poisson type equations. In this paper we study the Lagrangian analogue of this process and link it with the general theory of Lagrangian reduction; that is the reduction of variational principles. These reduced variational principles are interesting in their own right since they involve constraints on the allowed variations, analogous to what one finds in the theory of nonholonomic systems with the Lagrange dAlembert principle. In addition, the abstract theorems about circulation, what we call the Kelvin-Noether theorem, are given.
We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslovs problem, which is defined as the motion of a rigid body with a vanishing projection of the body frame angular velocity on a given direction $boldsymbol{xi}$. We derive the optimal control formulation, first for an arbitrary group, and then in the classical realization of Suslovs problem for the rotation group $SO(3)$. We show that it is possible to control the system using the constraint $boldsymbol{xi}(t)$ and demonstrate numerical examples in which the system tracks quite complex trajectories such as a spiral.
We develop a theory of semidirect products of partial groups and localities. Our concepts generalize the notions of direct products of partial groups and localities, and of semidirect products of groups.
In this paper, we make a generalization of Rouths reduction method for Lagrangian systems with symmetry to the case where not any regularity condition is imposed on the Lagrangian. First, we show how implicit Lagrange-Routh equations can be obtained from the Hamilton-Pontryagin principle, by making use of an anholonomic frame, and how these equations can be reduced. To do this, we keep the momentum constraint implicit throughout and we make use of a Routhian function defined on a certain submanifold of the Pontryagin bundle. Then, we show how the reduced implicit Lagrange-Routh equations can be described in the context of dynamical systems associated to Dirac structures, in which we fully utilize a symmetry reduction procedure for implicit Hamiltonian systems with symmetry.
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