2022/10/13 by Elias Maciel, Maciel, Elias, Inocencio Ortiz +3 · 1 citation
Engineering · Mathematics · #Applied mathematics #Artificial intelligence #Computer science #Constraint (computer-aided design) #Contrast (vision) #Control (management) #Control theory (sociology) #Discretization #Dynamics and Control of Mechanical Systems #FOS: Mathematics #Geometry #Hydraulic and Pneumatic Systems #Integrator #Mathematical analysis #Mathematical optimization #Mathematics #Mechanical system #Mobile robot #Nonholonomic system #Numerical Analysis (math.NA) #Numerical integration #Numerical methods for differential equations #Robot #Scheme (mathematics) #Variational integrator
paper · pdf · doi:10.48550/arxiv.2210.07388
openalex publication_date 2022/10/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/05
We propose a numerical scheme for the time-integration of nonholonomic mechanical systems, both conservative and nonconservative. The scheme is obtained by simultaneously discretizing the constraint equations and the Herglotz variational principle. We validate the method using numerical simulations and contrast them against the results of standard methods from the literature.