Energy conserving nonholonomic integrators
arXiv:math/0209314
Abstract
We address the problem of constructing numerical integrators for nonholonomic Lagrangian systems that enjoy appropriate discrete versions of the geometric properties of the continuous flow, including the preservation of energy. Building on previous work on time-dependent discrete mechanics, our approach is based on a discrete version of the Lagrange-d'Alembert principle for nonautonomous systems.
10 pages, no figures. To appear in Discrete and Continuous Dynamical Systems