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Título : Momentum and energy preserving integrators for nonholonomic dynamics
Autor : Ferraro, Sebastián; Iglesias, David; Martín de Diego, David
Fecha de publicación : 24-oct-2007
Citación : arXiv:0709.1463v2
Resumen: In this paper, we propose a geometric integrator for nonholonomic mechanical systems. It can be applied to discrete Lagrangian systems specified through a discrete Lagrangian defined on QxQ, where Q is the configuration manifold, and a (generally nonintegrable) distribution in TQ. In the proposed method, a discretization of the constraints is not required. We show that the method preserves the discrete nonholonomic momentum map, and also that the nonholonomic constraints are preserved in average. We study in particular the case where Q has a Lie group structure and the discrete Lagrangian and/or nonholonomic constraints have various invariance properties, and show that the method is also energy-preserving in some important cases.
URI : http://hdl.handle.net/10261/2276
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