New developments on the geometric nonholonomic integrator

DOI10.1088/0951-7715/28/4/871MaRDI QIDQ5247153zbMATH OpenOpenAlexFDO

Authors Fernando Jiménez, David Martín de Diego, Sebastián J. Ferraro

Publication date 23 April 2015

Published in Nonlinearity (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1312.1587

zbMATH Keywords

affine constraintsdiscrete variational calculusgeometric nonholonomic integratornonholonomic mechanicsreduction by symmetries

Mathematics Subject Classification ID

Nonholonomic dynamical systems (37J60) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Dynamical systems in classical and celestial mechanics (37N05) Numerical methods for Hamiltonian systems including symplectic integrators (65P10) 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)

Abstract: In this paper, we will discuss new developments regarding the Geometric Nonholonomic Integrator (GNI) [23, 24]. GNI is a discretization scheme adapted to nonholonomic mechanical systems through a discrete geometric approach. This method was designed to account for some of the special geometric structures associated to a nonholonomic motion, like preservation of energy, preservation of constraints or the nonholonomic momentum equation. First, we study the GNI versions of the symplectic-Euler methods, paying special attention to their convergence behavior. Then, we construct an extension of the GNI in the case of affine constraints. Finally, we generalize the proposed method to nonholonomic reduced systems, an important subclass of examples in nonholonomic dynamics. We illustrate the behavior of the proposed method with the example of the Chaplygin sphere, which accounts for the last two features, namely it is both a reduced and an affine system.

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Cited in

(15)

• On some aspects of the discretization of the Suslov problem
• Structure preserving discretization of time-reparametrized Hamiltonian systems with application to nonholonomic mechanics
• A Hamiltonian pertubation approach to construction of geometric integrators for optimal control problems
• Feedback integrators for nonholonomic mechanical systems
• Variational integrators for forced Lagrangian systems based on the local path fitting technique
• Regular and chaotic motions of a Chaplygin sleigh under periodic pulsed torque impacts
• On the geometry of the Hamilton-Jacobi equation and generating functions
• Simulating nonholonomic dynamics
• Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics
• Geometric integrators and nonholonomic mechanics
• Preservation of adiabatic invariants and geometric numerical algorithm for disturbed nonholonomic systems
• Symmetry preservation in Hamiltonian systems: simulation and learning
• A new variational integrator for constrained mechanical system dynamics
• What makes nonholonomic integrators work?
• On the discretization of nonholonomic dynamics in \(\mathbb{R}^n\)

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