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

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) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

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)

• Energy-preserving integrators applied to nonholonomic systems
• On the discretization of nonholonomic dynamics in \(\mathbb{R}^n\)
• Geometric discretization of nonholonomic systems with symmetries
• Simulating non-holonomic constraints within the LCP-based simulation framework
• scientific article; zbMATH DE number 1439066 (Why is no real title available?)
• Simulation of Multibody Systems with Nonholonomic Constraints
• A historical review on nonholomic mechanics
• High order symmetric algorithms for nonlinear dynamical systems with non-holonomic constraints
• New developments on the geometric nonholonomic integrator
• APPLICATION OF NONSTANDARD FINITE DIFFERENCE SCHEMES TO THE SIMULATION STUDIES OF ROBOTIC SYSTEMS
• What makes nonholonomic integrators work?
• Integrability of nonholonomically coupled oscillators
• Discrete variational optimal control
• On some aspects of the discretization of the Suslov problem
• Stability analysis and variational integrator for real-time formation based on potential field

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