Exact discrete Lagrangian mechanics for nonholonomic mechanics
نویسندگان
چکیده
Abstract We construct the exponential map associated to a nonholonomic system that allows us define an exact discrete constraint submanifold. reproduce continuous flow as on this submanifold deriving version of equations. Finally, we derive general family integrators includes particular case trajectory.
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ژورنال
عنوان ژورنال: Numerische Mathematik
سال: 2022
ISSN: ['0945-3245', '0029-599X']
DOI: https://doi.org/10.1007/s00211-022-01283-2