What makes nonholonomic integrators work?

DOI10.1007/S00211-020-01126-YzbMATH Open1447.37068arXiv1707.04514OpenAlexW3100225969MaRDI QIDQ777499FDOQ777499

Klas Modin, Olivier Verdier

Publication date: 7 July 2020

Published in: Numerische Mathematik (Search for Journal in Brave)

Abstract: A nonholonomic system is a mechanical system with velocity constraints not originating from position constraints; rolling without slipping is the typical example. A nonholonomic integrator is a numerical method specifically designed for nonholonomic systems. It has been observed numerically that many nonholonomic integrators exhibit excellent long-time behaviour when applied to various test problems. The excellent performance is often attributed to some underlying discrete version of the Lagrange--d'Alembert principle. Instead, in this paper, we give evidence that reversibility is behind the observed behaviour. Indeed, we show that many standard nonholonomic test problems have the structure of being foliated over reversible integrable systems. As most nonholonomic integrators preserve the foliation and the reversible structure, near conservation of the first integrals is a consequence of reversible KAM theory. Therefore, to fully evaluate nonholonomic integrators one has to consider also non-reversible nonholonomic systems. To this end we construct perturbed test problems that are integrable but no longer reversible (with respect to the standard reversibility map). Applying various nonholonomic integrators from the literature to these problems we observe that no method performs well on all problems. This further indicates that reversibility is the main mechanism behind near conservation of first integrals for nonholonomic integrators. A list of relevant open problems is given.

Full work available at URL: https://arxiv.org/abs/1707.04514

zbMATH Keywords

numerical methodnonholonomic integrator

Mathematics Subject Classification ID

Numerical integration (65D30) Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Perturbations of finite-dimensional Hamiltonian systems, normal forms, small divisors, KAM theory, Arnol'd diffusion (37J40) Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonholonomic dynamical systems (37J60) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Dynamical systems in numerical analysis (37N30)

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Cited In (8)

• Radial kinetic nonholonomic trajectories are Riemannian geodesics!
• Structure preserving discretization of time-reparametrized Hamiltonian systems with application to nonholonomic mechanics
• Energy-preserving integrators applied to nonholonomic systems
• Development of a constraint stabilization method of multibody systems based on fuzzy logic control
• Exact discrete Lagrangian mechanics for nonholonomic mechanics
• High order symmetric algorithms for nonlinear dynamical systems with non-holonomic constraints
• A Herglotz-based integrator for nonholonomic mechanical systems
• A nonholonomic Newmark method

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