Discrete nonholonomic LL systems on Lie groups
This paper applies the recently developed theory of discrete nonholonomic mechanics to the study of discrete nonholonomic left-invariant dynamics on Lie groups. The theory is illustrated with the discrete versions of two classical nonholonomic systems, the Suslov top and the Chaplygin sleigh. The pr...
| Autores: | , |
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| Tipo de documento: | artigo |
| Data de publicação: | 2003 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositório: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglês |
| OAI Identifier: | oai:upcommons.upc.edu:2117/915 |
| Acesso em linha: | https://hdl.handle.net/2117/915 |
| Access Level: | Acceso aberto |
| Palavra-chave: | Dynamics Hamiltonian dynamical systems Lagrangian functions Differentiable dynamical systems Lie groups Partícules (Física nuclear) Hamilton, Sistemes de Lagrange, Funcions de Sistemes dinàmics diferenciables Classificació AMS::37 Dynamical systems and ergodic theory::37J Finite-dimensional Hamiltonian, Lagrangian, contact, and nonholonomic systems Classificació AMS::37 Dynamical systems and ergodic theory::37M Approximation methods and numerical treatment of dynamical systems Classificació AMS::70 Mechanics of particles and systems::70F Dynamics of a system of particles, including celestial mechanics Classificació AMS::70 Mechanics of particles and systems::70H Hamiltonian and Lagrangian mechanics |
| Resumo: | This paper applies the recently developed theory of discrete nonholonomic mechanics to the study of discrete nonholonomic left-invariant dynamics on Lie groups. The theory is illustrated with the discrete versions of two classical nonholonomic systems, the Suslov top and the Chaplygin sleigh. The preservation of the reduced energy by the discrete flow is observed and the discrete momentum conservation is discussed. |
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