Nonholonomic Hamilton-Jacobi Theory via Chaplygin Hamiltonization
  We develop Hamilton-Jacobi theory for Chaplygin systems, a certain class of nonholonomic mechanical systems with symmetries, using a technique called Hamiltonization, which transforms nonholonomic systems into Hamiltonian systems. We give a geometric account of the Hamiltonization, identify necessary and sufficient conditions for Hamiltonization, and apply the conventional Hamilton-Jacobi theory to the Hamiltonized systems. We show, under a certain sufficient condition for Hamiltonization, that the solutions to the Hamilton-Jacobi equation associated with the Hamiltonized system also solve the nonholonomic Hamilton-Jacobi equation associated with the original Chaplygin system. The results are illustrated through several examples. 
Tomoki Ohsawa, Oscar E. Fernandez, Anthony M. Bloch, Dmitry V. Zenkov
math-ph math.DS math.MP math.SG