Simulating nonholonomic dynamics

DOI10.1007/BF03322542MaRDI QIDQ2897855zbMATH OpenOpenAlexFDO

Authors Marin Kobilarov, David Martín de Diego, Sebastián J. Ferraro

Publication date 16 July 2012

Published in Boletín de la Sociedad Española de Matemática Aplicada. S\(\vec{\text{e}}\)MA (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1002.4733

Mathematics Subject Classification ID

Nonholonomic dynamical systems (37J60) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Dynamical systems in classical and celestial mechanics (37N05) Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Abstract: This paper develops different discretization schemes for nonholonomic mechanical systems through a discrete geometric approach. The proposed methods are designed to account for the special geometric structure of the nonholonomic motion. Two different families of nonholonomic integrators are developed and examined numerically: the geometric nonholonomic integrator (GNI) and the reduced d'Alembert-Pontryagin integrator (RDP). As a result, the paper provides a general tool for engineering applications, i.e. for automatic derivation of numerically accurate and stable dynamics integration schemes applicable to a variety of robotic vehicle models.

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(15)

• On some aspects of the discretization of the Suslov problem
• Stability analysis and variational integrator for real-time formation based on potential field
• A historical review on nonholomic mechanics
• Energy-preserving integrators applied to nonholonomic systems
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• Simulation of Multibody Systems with Nonholonomic Constraints
• APPLICATION OF NONSTANDARD FINITE DIFFERENCE SCHEMES TO THE SIMULATION STUDIES OF ROBOTIC SYSTEMS
• Simulating non-holonomic constraints within the LCP-based simulation framework
• Integrability of nonholonomically coupled oscillators
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• High order symmetric algorithms for nonlinear dynamical systems with non-holonomic constraints
• What makes nonholonomic integrators work?
• On the discretization of nonholonomic dynamics in \(\mathbb{R}^n\)
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