On the Routh sphere

Ivan A. Bizyaev ; Andrey V. Tsiganov

Russian journal of nonlinear dynamics, Tome 8 (2012) no. 3, pp. 569-583.

Résumé

We discuss an embedding of the vector field associated with the nonholonomic Routh sphere in subgroup of the commuting Hamiltonian vector fields associated with this system. We prove that the corresponding Poisson brackets are reduced to canonical ones in the region without of homoclinic trajectories.

Détail

Keywords: nonholonomic mechanics, Routh sphere
Mots-clés : Poisson brackets.

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