2003, 2003(Special): 189-199. doi: 10.3934/proc.2003.2003.189

Energy conserving nonholonomic integrators

1. 

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

Received  September 2002 Revised  March 2003 Published  April 2003

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.
Citation: Jorge Cortés. Energy conserving nonholonomic integrators. Conference Publications, 2003, 2003 (Special) : 189-199. doi: 10.3934/proc.2003.2003.189
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