The geometric discretisation of the Suslov problem: a case study of consistency for nonholonomic integrators

DOI10.3934/DCDS.2017182MaRDI QIDQ524604zbMATH OpenOpenAlexFDO

Authors Luis C. García-Naranjo, Fernando Jiménez

Publication date 3 May 2017

Published in Discrete and Continuous Dynamical Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1605.02666

zbMATH Keywords

geometric integrationnonholonomic mechanicsdiscrete mechanicsLie groups and Lie algebrasreduction of mechanical systems with symmetry

Mathematics Subject Classification ID

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

Abstract: Geometric integrators for nonholonomic systems were introduced by Cort'es and Mart'inez in [Nonholonomic integrators, Nonlinearity, 14, 2001] by proposing a discrete Lagrange-D'Alembert principle. Their approach is based on the definition of a discrete Lagrangian $L_d$ and a discrete constraint space $D_d$. There is no recipe to construct these objects and the performance of the integrator is sensitive to their choice. Cort'es and Mart'inez claim that choosing $L_d$ and $D_d$ in a consistent manner with respect to a finite difference map is necessary to guarantee an approximation of the continuous flow within a desired order of accuracy. Although this statement is given without proof, similar versions of it have appeared recently in the literature. We evaluate the importance of the consistency condition by comparing the performance of two different geometric integrators for the nonholonomic Suslov problem, only one of which corresponds to a consistent choice of $L_d$ and $D_d$. We prove that both integrators produce approximations of the same order, and, moreover, that the non-consistent discretisation outperforms the other in numerical experiments and in terms of energy preservation. Our results indicate that the consistency of a discretisation might not be the most relevant feature to consider in the construction of nonholonomic geometric integrators.

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Cited in

(3)

• Lagrangian reduction of nonholonomic discrete mechanical systems by stages
• On some aspects of the discretization of the Suslov problem
• A nonholonomic Newmark method

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