Variational Integrators for Hamiltonizable Nonholonomic Systems
Open Access
- 1 January 2012
- journal article
- Published by American Institute of Mathematical Sciences (AIMS) in Journal of Geometric Mechanics
- Vol. 4 (2) , 137-163
Abstract
We report on new applications of the Poincaré 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.Keywords
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