论文标题
精确的非单纯力学拉格朗日力学
Exact discrete Lagrangian mechanics for nonholonomic mechanics
论文作者
论文摘要
我们构建了与非独立系统相关的指数映射，该映射使我们能够定义确切的离散的非义学约束submanifold。我们将连续的非单位流量重现为离散限制子曼群上的离散流，该流量得出了非循环方程的精确离散版本。最后，我们得出了一个普通的非独立集成商家族。
We construct the exponential map associated to a nonholonomic system that allows us to define an exact discrete nonholonomic constraint submanifold. We reproduce the continuous nonholonomic flow as a discrete flow on this discrete constraint submanifold deriving an exact discrete version of the nonholonomic equations. Finally, we derive a general family of nonholonomic integrators.
