Momentum and energy preserving integrators for nonholonomic dynamics

SEBASTIÁN J. FERRARO; DAVID IGLESIAS-PONTE; DAVID MARTÍN DE DIEGO

NONLINEARITY

Año: 2008 vol. 21 p. 1911 - 1928

0951-7715

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 L_d: Q × Q -> R, where Q is the configuration manifold, and a (generally nonintegrable) distribution D subset 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.