Abstract
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.
Original language | English |
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Article number | 26 |
Journal | Journal of Nonlinear Science |
Volume | 33 |
Issue number | 2 |
DOIs | |
Publication status | Published - Apr 2023 |
Keywords
- Exact integrators
- Hamel’s equations
- Momentum
- Nonholonomic systems
- Symmetry
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Gao, S., Shi, D., & Zenkov, D. V. (2023). Discrete Hamiltonian Variational Mechanics and Hamel’s Integrators. Journal of Nonlinear Science, 33(2), Article 26. https://doi.org/10.1007/s00332-022-09875-w