Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Nonholonomic integrators
J. Cortés, S. Martínez
Nonlinearity 14 (2001), 1365-1392
Abstract
We introduce a discretization of the Lagrange-d'Alembert principle for
Lagrangian systems with nonholonomic constraints, which allows us to
construct numerical integrators that approximate the continuous
flow. We study the geometric invariance properties of the discrete
flow which provide an explanation for the good performance of the
proposed method. This is tested on two examples: a nonholonomic
particle with a quadratic potential and a mobile robot with fixed
orientation.
pdf   |   ps.gz
Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo