On the discretization of nonholonomic dynamics in R^n
From MaRDI portal
Publication:888752
differential algebraic equationsgeometric integrationordinary differential equationsnonholonomic mechanicsdiscrete variational calculusdiscretization as perturbation
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 classical and celestial mechanics (37N05)
Abstract: In this paper we explore the nonholonomic Lagrangian setting of mechanical systems in local coordinates on finite-dimensional configuration manifolds. We prove existence and uniqueness of solutions by reducing the basic equations of motion to a set of ordinary differential equations on the underlying distribution manifold . Moreover, we show that any preserving discretization may be understood as beeing generated by the exact evolution map of a time-periodic non-autonomous perturbation of the original continuous-time nonholonomic system. By means of discretizing the corresponding Lagrange-d'Alembert principle, we construct geometric integrators for the original nonholonomic system. We give precise conditions under which these integrators generate a discrete flow preserving the distribution . Also, we derive corresponding consistency estimates. Finally, we carefully treat the example of the nonholonomic particle, showing how to discretize the equations of motion in a reasonable way, particularly regarding the nonholonomic constraints. The exploration in this paper lays the ground to analyze the dynamics of appropriate discretizations of nonholonomic mechnical systems in the Lagrangian framework and to relate that dynamics to the dynamics of the original nonholonomic systems. We postpone this analysis to a series of forthcoming papers.
Recommendations
Cites work
- scientific article; zbMATH DE number 1745051 (Why is no real title available?)
- A geometric treatment of implicit differential-algebraic equations
- Differential-Algebraic Systems as Differential Equations on Manifolds
- Discrete mechanics and variational integrators
- Discrete nonholonomic LL systems on Lie groups
- Discrete nonholonomic Lagrangian systems on Lie groupoids
- Discrete versions of some classical integrable systems and factorization of matrix polynomials
- Discretization of homoclinic orbits, rapid forcing and “invisible” chaos
- Erratum to: ``On an existence and uniqueness theory for nonlinear differential-algebraic equations
- Geometric control and numerical aspects of nonholonomic systems
- Integrators for nonholonomic mechanical systems
- Lie-Poisson Hamilton-Jacobi theory and Lie-Poisson integrators
- Momentum and energy preserving integrators for nonholonomic dynamics
- New developments on the geometric nonholonomic integrator
- Non-holonomic integrators
- Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint
- Nonholonomic mechanical systems with symmetry
- Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
- Numerical and geometric aspects of the nonholonomic SHAKE and RATTLE methods
- On an existence and uniqueness theory for nonlinear differential- algebraic equations
- On the Discretization Error of Parametrized Nonlinear Equations
- On the geometry of generalized Chaplygin systems
- On the geometry of non-holonomic Lagrangian systems
- On the geometry of rolling and interpolation curves on \(S^n\), \(\mathrm{SO}_n\), and Grassmann manifolds
- Poisson reduction for nonholonomic mechanical systems with symmetry
- Reduction of some classical non-holonomic systems with symmetry
- Simulating nonholonomic dynamics
Cited in
(13)- Simulating nonholonomic dynamics
- Non-holonomic integrators
- Reachability and Steering of Rolling Polyhedra: A Case Study in Discrete Nonholonomy
- Structure preserving discretization of time-reparametrized Hamiltonian systems with application to nonholonomic mechanics
- Exact discrete Lagrangian mechanics for nonholonomic mechanics
- scientific article; zbMATH DE number 3843191 (Why is no real title available?)
- Discrete nonholonomic Lagrangian systems on Lie groupoids
- Feedback integrators for nonholonomic mechanical systems
- Hybrid Systems: Computation and Control
- Geometric discretization of nonholonomic systems with symmetries
- A discretization of the nonholonomic Chaplygin sphere problem
- On some aspects of the discretization of the Suslov problem
- The geometric discretisation of the Suslov problem: a case study of consistency for nonholonomic integrators
This page was built for publication: On the discretization of nonholonomic dynamics in \(\mathbb{R}^n\)
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q888752)
