Feedback integrators for nonholonomic mechanical systems

DOI10.1007/S00332-018-9514-6zbMATH Open1483.65202arXiv1811.03757OpenAlexW3101713387WikidataQ128904595 ScholiaQ128904595MaRDI QIDQ2003405FDOQ2003405

Dong Eui Chang, M. Perlmutter

Publication date: 8 July 2019

Published in: Journal of Nonlinear Science (Search for Journal in Brave)

Abstract: The theory of feedback integrators is extended to handle mechanical systems with nonholonomic constraints with or without symmetry, so as to produce numerical integrators that preserve the nonholonomic constraints as well as other conserved quantities. To extend the feedback integrators, we develop a suitable extension theory for nonholonomic systems, and also a corresponding reduction theory for systems with symmetry. It is then applied to various nonholonomic systems such as the Suslov problem on SO(3), the knife edge, the Chaplygin sleigh, the vertical rolling disk, the roller racer, the Heisenberg system, and the nonholonomic oscillator.

Full work available at URL: https://arxiv.org/abs/1811.03757

zbMATH Keywords

symmetryfeedbacknonholonomic constraintstructure-preserving integrator

Mathematics Subject Classification ID

Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Free motion of a rigid body (70E15) Nonholonomic systems related to the dynamics of a system of particles (70F25) Stabilization of systems by feedback (93D15) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15)

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Cited In (7)

• Energy conserving nonholonomic integrators
• Feedback design for systems performing prescribed motions
• Preservation of adiabatic invariants for disturbed Hamiltonian systems under variational discretization
• What makes nonholonomic integrators work?
• A Herglotz-based integrator for nonholonomic mechanical systems
• A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems
• Feedback integrators

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