Hamiltonization and geometric integration of nonholonomic mechanical systems

Details Hamiltonization and geometric integration of nonholonomic mechanical systems Hamiltonization and geometric integration of nonholonomic mechanical systems

2011-05-26

arxiv.org/abs/1105.5223v1

Proceedings 8th National Congress on Theoretical and Applied Mechanics, Brussels (Belgium), 2009, 230-236

Physics

Mathematical Physics

11 pages, 19 figures

Scientific paper

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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