On the discretization of nonholonomic dynamics in R^n

DOI10.3934/JGM.2015.7.43zbMATH Open1353.70034arXiv1407.2116OpenAlexW2964267316MaRDI QIDQ888752FDOQ888752

Jürgen Scheurle, Fernando Jiménez

Publication date: 2 November 2015

Published in: Journal of Geometric Mechanics (Search for Journal in Brave)

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 $D$. Moreover, we show that any $D-$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 $D$. 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.

Full work available at URL: https://arxiv.org/abs/1407.2116

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zbMATH Keywords

differential algebraic equationsgeometric integrationordinary differential equationsnonholonomic mechanicsdiscrete variational calculusdiscretization as perturbation

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) Nonholonomic dynamical systems (37J60) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Dynamical systems in classical and celestial mechanics (37N05)

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Cited In (10)

• Hybrid Systems: Computation and Control
• Discrete nonholonomic Lagrangian systems on Lie groupoids
• Geometric discretization of nonholonomic systems with symmetries
• Feedback integrators for nonholonomic mechanical systems
• Title not available (Why is that?)
• A discretization of the nonholonomic Chaplygin sphere problem
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• Reachability and Steering of Rolling Polyhedra: A Case Study in Discrete Nonholonomy
• 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

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