Cartan-Hannay-Berry Phases and Symmetry

We give a systematic treatment of the treatment of the classical Hannay-Berry phases for mechanical systems in terms of the holonomy of naturally constructed connections on bundles associated to the system. We make the costructions using symmetry and reduction and, for moving systems, we use the Cartan connection. These ideas are woven with the idea of Montgomery [1988] on the averaging of connections to produce the Hannay-Berry connection

Induced Dirac structures on isotropy-type manifolds

A new method of singular reduction is extended from Poisson to Dirac manifolds. Then it is shown that the Dirac structures on the strata of the quotient coincide with those of the only other known singular Dirac reduction metho

Dirac Optimal Reduction

The purpose of this paper is to generalize the (Poisson) Optimal Reduction Theorem in Ortega and Ratiu [Momentum Maps and Hamiltonian Reduction. Progress in Mathematics 222. Boston, MA: Birkhäuser. xxxiv, 497pp., 2004] to general proper Lie group actions on Dirac manifolds, formulated both in terms of point and orbit reduction. A comparison to general standard singular Dirac reduction is given emphasizing the desingularization role played by optimal reductio

An almost Poisson structure for the generalized rigid body equations

In this paper we introduce almost Poisson structures on Lie groups which generalize Poisson structures based on the use of the classical Yang-Baxter identity. Almost Poisson structures fail to be Poisson structures in the sense that they do not satisfy the Jacobi identity.In the case of cross products of Lie groups, we show that an almost Poisson structure can be used to derive a system which is intimately related to a fundamental Hamiltonian integrable system — the generalized rigid body equations

Asymptotic Stability, Instability and Stabilization of Relative Equilibria

In this paper we analyze asymptotic stability, instability and stabilization for the relative equilibria, i.e. equilibria modulo a group action, of natural mechanical systems. The practical applications of these results are to rotating mechanical systems where the group is the rotation group. We use a modification of the Energy-Casimir and Energy-Momentum methods for Hamiltonian systems to analyze systems with dissipation. Our work couples the modern theory of block diagonalization to the classical work of Chetaev

Discrete rigid body dynamics and optimal control

We analyze an alternative formulation of the rigid body equations, their relationship with the discrete rigid body equations of Moser-Veselov (1991) and their formulation as an optimal control problem. In addition we discuss a general class of discrete optimal control problems

On a unified formulation of completely integrable systems

The purpose of this article is to show that a $\mathcal{C}^1$ differential system on $\R^n$ which admits a set of $n-1$ independent $\mathcal{C}^2$ conservation laws defined on an open subset $\Omega\subseteq \R^n$, is essentially $\mathcal{C}^1$ equivalent on an open and dense subset of $\Omega$, with the linear differential system $u^\prime_1=u_1, \ u^\prime_2=u_2,..., \ u^\prime_n=u_n$. The main results are illustrated in the case of two concrete dynamical systems, namely the three dimensional Lotka-Volterra system, and respectively the Euler equations from the free rigid body dynamics.Comment: 11 page