Exact discrete Lagrangian mechanics for nonholonomic mechanics

被引：0
|
作者：
Alexandre Anahory Simoes
Juan Carlos Marrero
David Martín de Diego
机构：
[1] Instituto de Ciencias Matemáticas (CSIC-UAM-UC3M-UCM),ULL
[2] Universidad de la Laguna,CSIC Geometría Diferencial y Mecánica Geométrica, Departamento de Matemáticas, Estadística e I O, Sección de Matemáticas, Facultad de Ciencias
来源：
Numerische Mathematik | 2022年 / 151卷
关键词：
Primary 70F25; 70G45; Secondary 65D30; 65P10;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
We construct the exponential map associated to a nonholonomic system that allows us to define an exact discrete nonholonomic constraint submanifold. We reproduce the continuous nonholonomic flow as a discrete flow on this discrete constraint submanifold deriving an exact discrete version of the nonholonomic equations. Finally, we derive a general family of nonholonomic integrators that includes as a particular case the exact discrete nonholonomic trajectory.
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页码：49 / 98
页数：49
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