Lagrange-d'alembert integrators
Date
2007-06-08
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
ORCID
Type
Degree Level
Doctoral
Abstract
A Lagrange--d'Alembert integrator is a geometric numerical method for finding numerical solutions to the Lagrange--d'Alembert equations for mechanical systems with nonholonomic constraints that are linear in the velocities. The integrator is developed from geometry and principles that are analogues of the continuous theory.Using discrete analogues of the symplectic form and momentum map, the resulting methods are symplectic and momentum preserving whenever the continuous system is symplectic and momentum preserving. In addition, it is possible to, in principle, generate Lagrange--d'Alembert integrators of any method order.
Description
Keywords
Geometric mechanics, integrators, symplectic, nonholonomic, holonomic
Citation
Degree
Doctor of Philosophy (Ph.D.)
Department
Mathematics and Statistics
Program
Mathematics and Statistics