Related papers: What makes nonholonomic integrators work?
We study a family of nonholonomic mechanical systems. These systems consist of harmonic oscillators coupled through nonholonomic constraints. In particular, the family includes the so called contact oscillator, which has been used as a test…
The theory of feedback integrators is extended to handle mechanical systems with nonholonomic constraints with or without symmetry, so as to produce numerical integrators that preserve the nonholonomic constraints as well as other conserved…
In the last two decades, significant effort has been put in understanding and designing so-called structure-preserving numerical methods for the simulation of mechanical systems. Geometric integrators attempt to preserve the geometry…
The paper deals with the problem of integration of equations of motion in nonholonomic systems. By means of well-known theory of the differential equations with an invariant measure the new integrable systems are discovered. Among them…
Vakonomic mechanics has been proposed as a possible description of the dynamics of systems subject to nonholonomic constraints. The aim of the present work is to show that for an important physical system the motion brought about by…
A discrete theory for implicit nonholonomic Lagrangian systems undergoing elastic collisions is developed. It is based on the discrete Lagrange-d'Alembert-Pontryagin variational principle and the dynamical equations thus obtained are the…
In this paper we study a Hamiltonization procedure for mechanical systems with velocity-depending (nonholonomic) constraints. We first rewrite the nonholonomic equations of motion as Euler-Lagrange equations, with a Lagrangian that follows…
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…
In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian systems are extended to a nonsmooth context appropriate for…
We introduce energy-preserving integrators for nonholonomic mechanical systems. We will see that the nonholonomic dynamics is completely determined by a triple $({\mathcal D}^*, \Pi, \mathcal{H})$, where ${\mathcal D}^*$ is the dual of the…
Nonholonomic systems are variational models commonly used for mechanical systems with ideal no-slip constraints. This note provides a differential-geometric derivation of the nonholonomic equations of motion for an arbitrary rigid body…
We discuss an extension of the Hamilton-Jacobi theory to nonholonomic mechanics with a particular interest in its application to exactly integrating the equations of motion. We give an intrinsic proof of a nonholonomic analogue of the…
A geometric derivation of nonholonomic integrators is developed. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems. The theoretical methodology and the integrators…
The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…
The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…
Using the nonholonomic exponential map, we generalize the well-known family of Newmark methods for nonholonomic systems. We give numerical examples including a test problem where the structure of reversible integrability responsible for…
In nonholonomic mechanics, the presence of constraints in the velocities breaks the well-under\-stood link between symmetries and first integrals of holonomic systems, expressed in Noether's Theorem. However there is a known special class…
Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…
We derive a collisionless kinetic theory for an ensemble of molecules undergoing nonholonomic rolling dynamics. We demonstrate that the existence of nonholonomic constraints leads to problems in generalizing the standard methods of…
We consider the question of existence of Hamiltonians for autonomous non-holonomic mechanical systems in this paper. The approach is elementary in the sense that the existence of a Hamiltonian for a given non-holonomic system is considered…