M. de Leon, D. Martin de Diego, A. Santamaria Merino
Published 2002-11-15, updated 2003-11-11Version 2
A geometric derivation of nonholonomic integrators is developed. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems. The theoretical methodology and the integrators obtained are, in general, different from the previously obtained.
Comments: 22 pages, 3 figures
The Wagner Curvature Tensor in Nonholonomic Mechanics
Geometric numerical integration of nonholonomic systems and optimal control problems
Nonlinear constraints in nonholonomic mechanics
