Hamiltonization and geometric integration of nonholonomic mechanical systems

Authors Tom Mestdag, Anthony M. Bloch, O. E. Fernandez

Publication date 26 May 2011

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Nonholonomic systems related to the dynamics of a system of particles (70F25) Lagrange's equations (70H03)

Abstract: In this paper we study a Hamiltonization procedure for mechanical systems with velocity-depending (nonholonomic) constraints. We first rewrite the nonholonomic equations of motion as Euler-Lagrange equations, with a Lagrangian that follows from rephrasing the issue in terms of the inverse problem of Lagrangian mechanics. Second, the Legendre transformation transforms the Lagrangian in the sought-for Hamiltonian. As an application, we compare some variational integrators for the new Lagrangians with some known nonholonomic integrators.

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