Publication

Chaplygin systems associated to Cartan decompositions of semi-simple Lie groups

Simon Hochgerner
2010
Journal Articles

Abstract

We relate a Chaplygin type system to a Cartan decomposition of a real semi-simple Lie group. The resulting system is described in terms of the structure theory associated to the Cartan decomposition. It is shown to possess a preserved measure and when internal symmetries are present these are factored out via a process called truncation. Furthermore, a criterion for Hamiltonizability of the system on the so-called ultimate reduced level is given. As important special cases we find the Chaplygin ball rolling on a table and the rubber ball rolling over another ball. (C) 2010 Elsevier B.V. All rights reserved.

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https://infoscience.epfl.ch/entities/publication/cb80afc7-3e13-4cf9-89f4-4a5cd46aab4a

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Simon Hochgerner
2010
Journal Articles

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/cb80afc7-3e13-4cf9-89f4-4a5cd46aab4a

About this result

Related concepts (13)

Semisimple Lie algebra

In mathematics, a Lie algebra is semisimple if it is a direct sum of simple Lie algebras. (A simple Lie algebra is a non-abelian Lie algebra without any non-zero proper ideals). Throughout the article, unless otherwise stated, a Lie algebra is a finite-dimensional Lie algebra over a field of characteristic 0. For such a Lie algebra , if nonzero, the following conditions are equivalent: is semisimple; the Killing form, κ(x,y) = tr(ad(x)ad(y)), is non-degenerate; has no non-zero abelian ideals; has no non-zero solvable ideals; the radical (maximal solvable ideal) of is zero.

Cartan matrix

In mathematics, the term Cartan matrix has three meanings. All of these are named after the French mathematician Élie Cartan. Amusingly, the Cartan matrices in the context of Lie algebras were first investigated by Wilhelm Killing, whereas the Killing form is due to Cartan. A (symmetrizable) generalized Cartan matrix is a square matrix with integral entries such that For diagonal entries, . For non-diagonal entries, . if and only if can be written as , where is a diagonal matrix, and is a symmetric matrix.

Reductive group

In mathematics, a reductive group is a type of linear algebraic group over a field. One definition is that a connected linear algebraic group G over a perfect field is reductive if it has a representation that has a finite kernel and is a direct sum of irreducible representations. Reductive groups include some of the most important groups in mathematics, such as the general linear group GL(n) of invertible matrices, the special orthogonal group SO(n), and the symplectic group Sp(2n).

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