Discrete Hamiltonian Variational Mechanics and Hamel’s Integrators

被引：0
作者：
Shan Gao
Donghua Shi
Dmitry V. Zenkov
机构：
[1] Beijing Institute of Technology,Beijing Key Laboratory on MCAACI, School of Mathematics and Statistics
[2] North Carolina State University,Department of Mathematics
来源：
Journal of Nonlinear Science | 2023年 / 33卷
关键词：
Exact integrators; Hamel’s equations; Nonholonomic systems; Momentum; Symmetry; 70F25; 37J60; 70H33;
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学科分类号：
摘要：
Exact variational integrators were exposed in the context of Lagrangian mechanics in Marsden and West (2001). These integrators sample the trajectories of holonomic mechanical systems and are useful for developing practical mechanical integrators. This paper introduces an exact variational integrator for Hamel’s equations, which are interpreted as a noncanonical form of Hamilton’s equations. This exact Hamel integrator is then adopted for a systematic construction of low-order constraint-preserving integrators for nonholonomic mechanical systems.
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