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Exact discrete Lagrangian mechanics for nonholonomic mechanics
Published 25 Mar 2020 in math-ph, cs.NA, math.DG, math.MP, and math.NA | (2003.11362v2)
Abstract: We construct the exponential map associated to a nonholonomic system that allows us to define an exact discrete nonholonomic constraint submanifold. We reproduce the continuous nonholonomic flow as a discrete flow on this discrete constraint submanifold deriving an exact discrete version of the nonholonomic equations. Finally, we derive a general family of nonholonomic integrators.
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