Feedback integrators for nonholonomic mechanical systems
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Publication:2003405
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)
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.
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Cites work
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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 discontinuous output feedback controller and velocity observer for nonlinear mechanical systems
- A Herglotz-based integrator for nonholonomic mechanical systems
- Feedback integrators
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