On some aspects of the discretization of the Suslov problem

DOI10.3934/JGM.2018002MaRDI QIDQ1711936zbMATH OpenOpenAlexFDO

Authors Fernando Jiménez, Jürgen Scheurle

Publication date 18 January 2019

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

Full work available at URL https://arxiv.org/abs/1506.01289

zbMATH Keywords

discrete variational calculusdiscretization as perturbationgeometric integrationLie groups and Lie algebrasnonholonomic mechanicsreduction of mechanical systems with symmetry

Mathematics Subject Classification ID

Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Abstract: In this paper we explore the discretization of Euler-Poincar'e-Suslov equations on $SO(3)$, i.e. of the Suslov problem. We show that the consistency order corresponding to the unreduced and reduced setups, when the discrete reconstruction equation is given by a Cayley retraction map, are related to each other in a nontrivial way. We give precise conditions under which general and variational integrators generate a discrete flow preserving the constraint distribution. We establish general consistency bounds and illustrate the performance of several discretizations by some plots. Moreover, along the lines of [14] we show that any constraints-preserving discretization may be understood as being generated by the exact evolution map of a time-periodic non-autonomous perturbation of the original continuous-time nonholonomic system.

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Cited in

(2)

• Hirota-Kimura type discretization of the classical nonholonomic Suslov problem
• On a novel Hamiltonian description of the nonholonomic Suslov problem

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