{
  "id": "1105.5223",
  "version": "v1",
  "published": "2011-05-26T07:55:18.000Z",
  "updated": "2011-05-26T07:55:18.000Z",
  "title": "Hamiltonization and geometric integration of nonholonomic mechanical systems",
  "authors": [
    "T. Mestdag",
    "A. M. Bloch",
    "O. E. Fernandez"
  ],
  "comment": "11 pages, 19 figures",
  "journal": "Proceedings 8th National Congress on Theoretical and Applied Mechanics, Brussels (Belgium), 2009, 230-236",
  "categories": [
    "math-ph",
    "math.DS",
    "math.MP"
  ],
  "abstract": "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.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2011-05-26T07:55:18.000Z"
    }
  ],
  "analyses": {
    "subjects": [
      "70-08",
      "70H03",
      "70F25"
    ],
    "keywords": [
      "nonholonomic mechanical systems",
      "geometric integration",
      "legendre transformation transforms",
      "lagrangian mechanics",
      "variational integrators"
    ],
    "tags": [
      "journal article"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 11,
      "language": "en",
      "license": "arXiv",
      "status": "editable",
      "adsabs": "2011arXiv1105.5223M"
    }
  }
}