@article{7698dd2ea5f24629b172b34bbaf38ba6,
title = "Discrete Hamiltonian Variational Mechanics and Hamel{\textquoteright}s Integrators",
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{\textquoteright}s equations, which are interpreted as a noncanonical form of Hamilton{\textquoteright}s equations. This exact Hamel integrator is then adopted for a systematic construction of low-order constraint-preserving integrators for nonholonomic mechanical systems.",
keywords = "Exact integrators, Hamel{\textquoteright}s equations, Momentum, Nonholonomic systems, Symmetry",
author = "Shan Gao and Donghua Shi and Zenkov, {Dmitry V.}",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature.",
year = "2023",
month = apr,
doi = "10.1007/s00332-022-09875-w",
language = "English",
volume = "33",
journal = "Journal of Nonlinear Science",
issn = "0938-8974",
publisher = "Springer New York",
number = "2",
}