3 research outputs found
A general framework for nonholonomic mechanics: Nonholonomic Systems on Lie affgebroids
This paper presents a geometric description of Lagrangian and Hamiltonian
systems on Lie affgebroids subject to affine nonholonomic constraints. We
define the notion of nonholonomically constrained system, and characterize
regularity conditions that guarantee that the dynamics of the system can be
obtained as a suitable projection of the unconstrained dynamics. It is shown
that one can define an almost aff-Poisson bracket on the constraint AV-bundle,
which plays a prominent role in the description of nonholonomic dynamics.
Moreover, these developments give a general description of nonholonomic systems
and the unified treatment permits to study nonholonomic systems after or before
reduction in the same framework. Also, it is not necessary to distinguish
between linear or affine constraints and the methods are valid for explicitly
time-dependent systems.Comment: 50 page
Discrete Nonholonomic Lagrangian Systems on Lie Groupoids
This paper studies the construction of geometric integrators for nonholonomic
systems. We derive the nonholonomic discrete Euler-Lagrange equations in a
setting which permits to deduce geometric integrators for continuous
nonholonomic systems (reduced or not). The formalism is given in terms of Lie
groupoids, specifying a discrete Lagrangian and a constraint submanifold on it.
Additionally, it is necessary to fix a vector subbundle of the Lie algebroid
associated to the Lie groupoid. We also discuss the existence of nonholonomic
evolution operators in terms of the discrete nonholonomic Legendre
transformations and in terms of adequate decompositions of the prolongation of
the Lie groupoid. The characterization of the reversibility of the evolution
operator and the discrete nonholonomic momentum equation are also considered.
Finally, we illustrate with several classical examples the wide range of
application of the theory (the discrete nonholonomic constrained particle, the
Suslov system, the Chaplygin sleigh, the Veselova system, the rolling ball on a
rotating table and the two wheeled planar mobile robot).Comment: 45 page