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Geometric discretization of nonholonomic systems with symmetries
2009
Discrete and Continuous Dynamical Systems. Series S
The paper develops discretization schemes for mechanical systems for integration and optimization purposes through a discrete geometric approach. We focus on systems with symmetries, controllable shape (internal variables), and nonholonomic constraints. Motivated by the abundance of important models from science and engineering with such properties, we propose numerical methods specifically designed to account for their special geometric structure. At the core of the formulation lies a discrete
doi:10.3934/dcdss.2010.3.61
fatcat:agaxid5pyfalbmqzjuuzx75nt4