Discrete second order constrained Lagrangian systems: first results

DOI10.3934/JGM.2013.5.381MaRDI QIDQ2438154zbMATH OpenOpenAlexFDO

Authors Nicolás Borda, Javier Fernández, Sergio Grillo

Publication date 10 March 2014

Published in Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1312.1941

zbMATH Keywords

discrete mechanical systemsgeometric mechanicsnonholonomic mechanicssecond order constraints

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Variational methods for problems in mechanics (70G75) Constrained dynamics, Dirac's theory of constraints (70H45)

Abstract: We briefly review the notion of second order constrained (continuous) system (SOCS) and then propose a discrete time counterpart of it, which we naturally call discrete second order constrained system (DSOCS). To illustrate and test numerically our model, we construct certain integrators that simulate the evolution of two mechanical systems: a particle moving in the plane with prescribed signed curvature, and the inertia wheel pendulum with a Lyapunov constraint. In addition, we prove a local existence and uniqueness result for trajectories of DSOCSs. As a first comparison of the underlying geometric structures, we study the symplectic behavior of both SOCSs and DSOCSs.

Recommendations

• Variational integrators for discrete Lagrange problems
• Continuous and discrete approaches to vakonomic mechanics
• Variational integrators in discrete vakonomic mechanics
• Higher-order discrete variational problems with constraints
• scientific article; zbMATH DE number 1062842

Cited in

(2)

• Variational integrators for mechanical control systems with symmetries
• Remarks on structures and preservation in forced discrete mechanical systems of Routh type

This page was built for publication: Discrete second order constrained Lagrangian systems: first results

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2438154)