Discrete second order constrained lagrangian systems: first results
We briefly review the notion of second order constrained (continuous) system (SOCS) and then propose a discrete time counterpart of it, which we naturally call discrete second order constrained system (DSOCS). To illustrate and test numerically our model, we construct certain integrators that simula...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2013 |
| País: | Argentina |
| Institución: | Universidad Nacional de La Plata |
| Repositorio: | SEDICI (UNLP) |
| Idioma: | inglés |
| OAI Identifier: | oai:sedici.unlp.edu.ar:10915/85473 |
| Acceso en línea: | http://sedici.unlp.edu.ar/handle/10915/85473 |
| Access Level: | acceso abierto |
| Palabra clave: | Matemática Discrete mechanical systems Geometric mechanics Nonholonomic mechanics Second order constraints |
| Sumario: | We briefly review the notion of second order constrained (continuous) system (SOCS) and then propose a discrete time counterpart of it, which we naturally call discrete second order constrained system (DSOCS). To illustrate and test numerically our model, we construct certain integrators that simulate the evolution of two mechanical systems: a particle moving in the plane with prescribed signed curvature, and the inertia wheel pendulum with a Lyapunov constraint. In addition, we prove a local existence and uniqueness result for trajectories of DSOCSs. As a first comparison of the underlying geometric structures, we study the symplectic behavior of both SOCSs and DSOCSs. |
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