# American Institue of Mathematical Sciences

• Previous Article
A catalog of inverse-kinematics planners for underactuated systems on matrix groups
• JGM Home
• This Issue
• Next Article
Book review: Geometric mechanics and symmetry, by Darryl D. Holm, Tanya Schmah and Cristina Stoica
2009, 1(4): 461-481. doi: 10.3934/jgm.2009.1.461

## Nonholonomic Hamilton-Jacobi equation and integrability

 1 Department of Mathematics, University of Michigan, Ann Arbor, Michigan 48109-1043, United States 2 Department of Mathematics, University of Michigan, Ann Arbor, MI 48109, United States

Received  June 2009 Revised  January 2010 Published  January 2010

We discuss an extension of the Hamilton-Jacobi theory to nonholonomic mechanics with a particular interest in its application to exactly integrating the equations of motion. We give an intrinsic proof of a nonholonomic analogue of the Hamilton-Jacobi theorem. Our intrinsic proof clarifies the difference from the conventional Hamilton-Jacobi theory for unconstrained systems. The proof also helps us identify a geometric meaning of the conditions on the solutions of the Hamilton-Jacobi equation that arise from nonholonomic constraints. The major advantage of our result is that it provides us with a method of integrating the equations of motion just as the unconstrained Hamilton-Jacobi theory does. In particular, we build on the work by Iglesias-Ponte, de Léon, and Martín de Diego [15] so that the conventional method of separation of variables applies to some nonholonomic mechanical systems. We also show a way to apply our result to systems to which separation of variables does not apply.
Citation: Tomoki Ohsawa, Anthony M. Bloch. Nonholonomic Hamilton-Jacobi equation and integrability. Journal of Geometric Mechanics, 2009, 1 (4) : 461-481. doi: 10.3934/jgm.2009.1.461
 [1] Larry M. Bates, Francesco Fassò, Nicola Sansonetto. The Hamilton-Jacobi equation, integrability, and nonholonomic systems. Journal of Geometric Mechanics, 2014, 6 (4) : 441-449. doi: 10.3934/jgm.2014.6.441 [2] Manuel de León, Juan Carlos Marrero, David Martín de Diego. Linear almost Poisson structures and Hamilton-Jacobi equation. Applications to nonholonomic mechanics. Journal of Geometric Mechanics, 2010, 2 (2) : 159-198. doi: 10.3934/jgm.2010.2.159 [3] Joan-Andreu Lázaro-Camí, Juan-Pablo Ortega. The stochastic Hamilton-Jacobi equation. Journal of Geometric Mechanics, 2009, 1 (3) : 295-315. doi: 10.3934/jgm.2009.1.295 [4] Giuseppe Marmo, Giuseppe Morandi, Narasimhaiengar Mukunda. The Hamilton-Jacobi theory and the analogy between classical and quantum mechanics. Journal of Geometric Mechanics, 2009, 1 (3) : 317-355. doi: 10.3934/jgm.2009.1.317 [5] Melvin Leok, Diana Sosa. Dirac structures and Hamilton-Jacobi theory for Lagrangian mechanics on Lie algebroids. Journal of Geometric Mechanics, 2012, 4 (4) : 421-442. doi: 10.3934/jgm.2012.4.421 [6] Nalini Anantharaman, Renato Iturriaga, Pablo Padilla, Héctor Sánchez-Morgado. Physical solutions of the Hamilton-Jacobi equation. Discrete & Continuous Dynamical Systems - B, 2005, 5 (3) : 513-528. doi: 10.3934/dcdsb.2005.5.513 [7] María Barbero-Liñán, Manuel de León, David Martín de Diego, Juan C. Marrero, Miguel C. Muñoz-Lecanda. Kinematic reduction and the Hamilton-Jacobi equation. Journal of Geometric Mechanics, 2012, 4 (3) : 207-237. doi: 10.3934/jgm.2012.4.207 [8] Fabio Camilli, Paola Loreti, Naoki Yamada. Systems of convex Hamilton-Jacobi equations with implicit obstacles and the obstacle problem. Communications on Pure & Applied Analysis, 2009, 8 (4) : 1291-1302. doi: 10.3934/cpaa.2009.8.1291 [9] Renato Iturriaga, Héctor Sánchez-Morgado. Limit of the infinite horizon discounted Hamilton-Jacobi equation. Discrete & Continuous Dynamical Systems - B, 2011, 15 (3) : 623-635. doi: 10.3934/dcdsb.2011.15.623 [10] Yoshikazu Giga, Przemysław Górka, Piotr Rybka. Nonlocal spatially inhomogeneous Hamilton-Jacobi equation with unusual free boundary. Discrete & Continuous Dynamical Systems - A, 2010, 26 (2) : 493-519. doi: 10.3934/dcds.2010.26.493 [11] Yuxiang Li. Stabilization towards the steady state for a viscous Hamilton-Jacobi equation. Communications on Pure & Applied Analysis, 2009, 8 (6) : 1917-1924. doi: 10.3934/cpaa.2009.8.1917 [12] Claudio Marchi. On the convergence of singular perturbations of Hamilton-Jacobi equations. Communications on Pure & Applied Analysis, 2010, 9 (5) : 1363-1377. doi: 10.3934/cpaa.2010.9.1363 [13] Isabeau Birindelli, J. Wigniolle. Homogenization of Hamilton-Jacobi equations in the Heisenberg group . Communications on Pure & Applied Analysis, 2003, 2 (4) : 461-479. doi: 10.3934/cpaa.2003.2.461 [14] Manuel de León, David Martín de Diego, Miguel Vaquero. A Hamilton-Jacobi theory on Poisson manifolds. Journal of Geometric Mechanics, 2014, 6 (1) : 121-140. doi: 10.3934/jgm.2014.6.121 [15] Yasuhiro Fujita, Katsushi Ohmori. Inequalities and the Aubry-Mather theory of Hamilton-Jacobi equations. Communications on Pure & Applied Analysis, 2009, 8 (2) : 683-688. doi: 10.3934/cpaa.2009.8.683 [16] Olga Bernardi, Franco Cardin. On $C^0$-variational solutions for Hamilton-Jacobi equations. Discrete & Continuous Dynamical Systems - A, 2011, 31 (2) : 385-406. doi: 10.3934/dcds.2011.31.385 [17] Emeric Bouin. A Hamilton-Jacobi approach for front propagation in kinetic equations. Kinetic & Related Models, 2015, 8 (2) : 255-280. doi: 10.3934/krm.2015.8.255 [18] Gawtum Namah, Mohammed Sbihi. A notion of extremal solutions for time periodic Hamilton-Jacobi equations. Discrete & Continuous Dynamical Systems - B, 2010, 13 (3) : 647-664. doi: 10.3934/dcdsb.2010.13.647 [19] Antonio Avantaggiati, Paola Loreti, Cristina Pocci. Mixed norms, functional Inequalities, and Hamilton-Jacobi equations. Discrete & Continuous Dynamical Systems - B, 2014, 19 (7) : 1855-1867. doi: 10.3934/dcdsb.2014.19.1855 [20] Gui-Qiang Chen, Bo Su. Discontinuous solutions for Hamilton-Jacobi equations: Uniqueness and regularity. Discrete & Continuous Dynamical Systems - A, 2003, 9 (1) : 167-192. doi: 10.3934/dcds.2003.9.167

2016 Impact Factor: 0.857