Variational Integrators for Hamiltonizable Nonholonomic Systems | Zendy

Oscar E. Fernandez | Zendy; Anthony M. Bloch | Zendy; Peter J. Olver | Zendy

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Variational Integrators for Hamiltonizable Nonholonomic Systems

Author(s) -

Oscar E. Fernandez,

Anthony M. Bloch,

Peter J. Olver

Publication year - 2012

Publication title -

the journal of geometric mechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.511

H-Index - 17

eISSN - 1941-4897

pISSN - 1941-4889

DOI - 10.3934/jgm.2012.4.137

Subject(s) - nonholonomic system , variational integrator , integrator , mechanical system , hamiltonian system , control theory (sociology) , computer science , hamiltonian (control theory) , classical mechanics , mathematics , control engineering , physics , engineering , mathematical optimization , robot , artificial intelligence , mobile robot , control (management) , computer network , bandwidth (computing)

We report on new applications of the Poincare and Sundman time-transformations to the simulation of nonholonomic systems. These transformations are here applied to nonholonomic mechanical systems known to be Hamiltonizable (briefly, nonholonomic systems whose constrained mechanics are Hamiltonian after a suitable time reparameterization). We show how such an application permits the usage of variational integrators for these non-variational mechanical systems. Examples are given and numerical results are compared to the standard nonholonomic integrator results.

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