Author:
Simoes Alexandre Anahory,Marrero Juan Carlos,de Diego David Martín
Abstract
AbstractWe 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 that includes as a particular case the exact discrete nonholonomic trajectory.
Funder
Consejo Superior de Investigaciones Cientificas
Publisher
Springer Science and Business Media LLC
Subject
Applied Mathematics,Computational Mathematics
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