Discrete Nonholonomic LL Systems on Lie Groups

Details Discrete Nonholonomic LL Systems on Lie Groups Discrete Nonholonomic LL Systems on Lie Groups

2004-09-21

arxiv.org/abs/math/0409415v1

Mathematics

Dynamical Systems

32 pages, 13 figures

Scientific paper

10.1088/0951-7715/18/5/017

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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