Geometry of Invariant Tori of Certain Integrable Systems with Symmetry and an Application to a Nonholonomic System

Abstract

Bifibrations, in symplectic geometry called also dual pairs, play a relevant role in the theory of superintegrable Hamiltonian systems. We prove the existence of an analogous bifibrated geometry in dynamical systems with a symmetry group such that the reduced dynamics is periodic. The integrability of such systems has been proven by M. Field and J. Hermans with a reconstruction technique. We apply the result to the nonholonomic system of a ball rolling on a surface of revolution.

arXiv commentThis is a contribution to the Proc. of workshop on Geometric Aspects of Integrable Systems (July 17-19, 2006; Coimbra, Portugal), published in SIGMA (Symmetry, Integrability and Geometry: Methods and Applications) at http://www.emis.de/journals/SIGMA/

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• The motion of the 2D hydrodynamic Chaplygin sleigh in the presence of circulation
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• Quasi-periodicity in relative quasi-periodic tori