Olga Orel

In the paper, topology of energy surfaces is described and bifurcation sets is constructed for the classical Chaplygin problem and its generalization. We also describe bifurcations of Liouville tori and calculate the Fomenko invariant (for the classical case this result is obtained analytically and for the generalized case it is obtained with the help of computer modeling). Topological analysis shows that some topological characteristics (such as the form of the bifurcation set) change continuously and some of them (such as topology of energy surfaces) change drastically as $g\to0$.

When solving the problem on finding exact solution of an integrable Hamiltonian system, one usually choose a mapping (covering) that transforms the original system into a system of Abel equations determined in a space of hyperelliptic bundles. The analytical Poisson bracket is induced in this space. In the paper we show that the Jacobi identity imposes certain conditions on the polynomial and constants, which enter the system of Abel equations. This fact allows us to calculate the corresponding constants and to find action variables in the Steklov-Lyapunov problem and, consequently, to complete exact integration of this problem.