Exact discrete Lagrangian mechanics for nonholonomic mechanics

03/25/2020

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by   Alexandre Anahory Simoes, et al.

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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.