Variational Collision Integrators for Nonholonomic Lagrangian Systems
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866910892943212544 |
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| author | Abella, Álvaro Rodríguez Colombo, Leonardo |
| author_facet | Abella, Álvaro Rodríguez Colombo, Leonardo |
| contents | A discrete theory for implicit nonholonomic Lagrangian systems undergoing elastic collisions is developed. It is based on the discrete Lagrange-d'Alembert-Pontryagin variational principle and the dynamical equations thus obtained are the discrete nonholonomic implicit Euler-Lagrange equations together with the discrete conditions for the elastic impact. To illustrate the theory, variational integrators with collisions are built for several examples, including a bouncing ellipse and a nonholonomic spherical pendulum evolving inside a cylinder. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_19724 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Variational Collision Integrators for Nonholonomic Lagrangian Systems Abella, Álvaro Rodríguez Colombo, Leonardo Dynamical Systems Mathematical Physics A discrete theory for implicit nonholonomic Lagrangian systems undergoing elastic collisions is developed. It is based on the discrete Lagrange-d'Alembert-Pontryagin variational principle and the dynamical equations thus obtained are the discrete nonholonomic implicit Euler-Lagrange equations together with the discrete conditions for the elastic impact. To illustrate the theory, variational integrators with collisions are built for several examples, including a bouncing ellipse and a nonholonomic spherical pendulum evolving inside a cylinder. |
| title | Variational Collision Integrators for Nonholonomic Lagrangian Systems |
| topic | Dynamical Systems Mathematical Physics |
| url | https://arxiv.org/abs/2503.19724 |