2020/03/25 by Simoes, Alexandre Anahory, Marrero, Juan Carlos, de Diego, David Martin · 1 citation
#34C25 #37E40 #70K40 #Differential Geometry (math.DG) #FOS: Mathematics #FOS: Physical sciences #Mathematical Physics (math-ph) #Numerical Analysis (math.NA)
paper · doi:10.48550/arxiv.2003.11362
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.