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arXiv · 1105.5223

Hamiltonization and geometric integration of nonholonomic mechanical systems

T. Mestdag·A. M. Bloch·O. E. Fernandez
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Abstract

In this paper we study a Hamiltonization procedure for mechanical systems with velocity-depending (nonholonomic) constraints. We first rewrite the nonholonomic equations of motion as Euler-Lagrange equations, with a Lagrangian that follows from rephrasing the issue in terms of the inverse problem of Lagrangian mechanics. Second, the Legendre transformation transforms the Lagrangian in the sought-for Hamiltonian. As an application, we compare some variational integrators for the new Lagrangians with some known nonholonomic integrators.

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T. Mestdag, A. M. Bloch, O. E. Fernandez. 2011-05-26. Hamiltonization and geometric integration of nonholonomic mechanical systems. https://arxiv.org/abs/1105.5223

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