Energy conserving nonholonomic integrators
Jorge Cortes
TL;DR
This paper develops energy-conserving numerical integrators for nonholonomic systems by extending discrete mechanics principles, ensuring geometric properties and energy preservation in simulations.
Contribution
It introduces a novel discrete Lagrange-d'Alembert principle for nonautonomous systems to construct integrators that preserve energy and geometric structure.
Findings
Integrators preserve energy in nonholonomic systems.
The method maintains geometric properties of the continuous flow.
Applicable to time-dependent nonholonomic systems.
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.
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Taxonomy
TopicsControl and Dynamics of Mobile Robots · Control and Stability of Dynamical Systems · Dynamics and Control of Mechanical Systems