Energy conserving nonholonomic integrators

Pages: 189 - 199, Issue Special, July 2003

 Abstract        Full Text (204.3K)              

Jorge Cortés - Coordinated Science Laboratory, University of Illnois at Urbana-Champaign, 1308 W. Main St., IL 61801, United States (email)

Abstract: We address the problem of constructing numerical integrators for nonholonomic Lagrangian systems that enjoy appropriate discrete versions of the geometric properties of the continuous flow, including the preservation of energy. Building on previous work on time-dependent discrete mechanics, our approach is based on a discrete version of the Lagrange-d’Alembert principle for nonautonomous systems.

Keywords:  geometric integration, nonholonomic constraints, discrete mechanics.
Mathematics Subject Classification:  Primary: 37J60; Secondary: 37M15.

Received: September 2002;      Revised: March 2003;      Published: April 2003.