Discrete Nonholonomic Lagrangian Systems on Lie Groupoids

@article{Ponte2008DiscreteNL,
  title={Discrete Nonholonomic Lagrangian Systems on Lie Groupoids},
  author={David Iglesias Ponte and Juan Carlos Marrero and David Mart{\'i}n de Diego and Eduardo Mart{\'i}nez},
  journal={Journal of Nonlinear Science},
  year={2008},
  volume={18},
  pages={221-276}
}
Abstract This paper studies the construction of geometric integrators for nonholonomic systems. We develop a formalism for nonholonomic discrete Euler–Lagrange equations in a setting that permits to deduce geometric integrators for continuous nonholonomic systems (reduced or not). The formalism is given in terms of Lie groupoids, specifying a discrete Lagrangian and a constraint submanifold on it. Additionally, it is necessary to fix a vector subbundle of the Lie algebroid associated to the Lie… 

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