LaurentJayGraphLagrangian PDF

Lagrange-dAlembert integrators for constrained systems in mechanics

Conference on Scientic Computing in honor of Ernst Hairers 60th birthday, Geneva, Switzerland
Laurent O. Jay
Dept. of Mathematics, The University of Iowa, USA
June 17-20, 2009
Lagrangian systems with nonholonomic constraints

Coordinates and velocities: (q , v ) Lagrangian: L(q , v ) Nonholonomic constraints: k (q , v ) = 0 Lagrange equations of the second kind: d q = v dt d v L(q , v ) = q L(q , v ) K (q , v )T dt 0 = k (q , v ) They form a system of dierential-algebraic equations (DAEs) Index 2 assumption: T 2 vv L(q , v ) K (q , v ) nonsingular J (q , v ) := kv (q , v ) O Ideal nonholonomic constraints when K (q , v ) = kv (q , v )
Applications with nonholonomic constraints
Rolling balls, wheels, and disks Skating and sleighs Trajectory planning for vehicles, e.g., car trailer Robotic mechanisms, e.g., wheeled robots Molecular dynamics simulations with constant kinetic temperature Missile pursuit etc.
The underlying forced Lagrangian system

d q = v dt d v L(q , v ) = q L(q , v ) + fL (q , v ) dt where fL (q , v ) := K (q , v )T (q , v ) and (q , v ) := is the solution with a := linear equations J (q , v ) a =
d dt v
of the system of
2 qv L(q , v )v + q L(q , v ) kq (q , v )v
The nonholonomic constraints 0 = k (q , v ) are strong invariants of the underlying forced Lagrangian system.
The Lagrange-dAlembert principle
The index 2 DAEs can be derived from the Lagrange-dAlembert principle d Lv (q , q ) + Lq (q , q ) q = 0 dt and the nonholonomic constraints 0 = k (q , q ) where q are virtual displacements satisfying the Maurer-Appell-ChetaevJohnsen-Hamel rule kv (q , q ) q = 0
Equivalence to a skew critical problem when k (q , v ) = K (q )v

Dene the action
tN
A(q ) :=
t0
L(q (t ), q (t ))dt
For nonholonomic constraints linear in v 0 = K (q )v the Lagrange-dAlembert principle is equivalent to a skew critical problem A(q )(q ) = 0 This motivates. . .
1 q C0
| K (q )q 0
Cort es discrete Lagrange-dAlembert principle (2001)

Assume that 0 = c (qk , qk +1 ) where c (qk , qk +1 ) := K (qk +1 ) vk +1 (qk , qk +1 ) | {z }
v (tk +1 )
for k = 0, . . . , N 1
Consider a discrete Lagrangian
Ld (qk , qk +1 )
tk +1
L(q (t ), q (t ))dt
tk
where q (tk ) = qk , q (tk +1 ) = qk +1 . Cort es discrete Lagrange-dAlembert principle is dened as follows: the discrete action sum
N 1 X k =0
Ld (qk , qk +1 )
n is stationary with respect to variations {qk }N k =0 | qk Ker(K (qk )) R (K (qk )qk = 0) and q0 = 0 = qN . This leads to Cort es discrete Euler-Lagrange equations
2 Ld (qk 1 , qk ) + 1 Ld (qk , qk +1 ) = K (qk )T k
Example of a LDA method

For 1 T v Mv U (q ), 2 k (q , v ) := K (q )v + b (q ) L(q , v ) := M sym. pos. def.,
McLachlan-Perlmutters 2-stage (Lobatto IIIB-A) LDA method (2006): 1 Q 1 = q0 + h v 0 2 Mv1 = Mv0 h(U (Q1 ) + K (Q1 )T 1 ) 1 1 q1 = q0 + h (v0 + v1 ) = Q1 + h v1 2 2 0 = K (q1 )v1 + b (q1 )
Quote from McLachlan and Perlmutter (2006)
. . . much work remains to be done to clarify the nature of discrete nonholonomic mechanics and to pinpoint the correct discrete analog of the Lagrange-dAlembert principle.
Forced Lagrangian systems

d q = v dt d v L(q , v ) = q L(q , v ) + fL (q , v ) dt the integral Lagrange-dAlembert principle is
tN
A(q )(q ) +
t0
fL (q (t ), q (t ))T q (t )dt = 0
1 q C0
Idea: For nonholonomic Lagrangian systems take fL (q , v ) := K (q , v )T (q , v ) and consider the nonholonomic constraints 0 = k (q , v ) as strong invariants of the underlying forced Lagrangian system.
Notation
Let q (t ) satisfy q (tk ) = qk , q (tk +1 ) = qk +1 . Consider a discrete Lagrangian Ld (qk , qk +1 ) approximating the exact discrete Lagrangian LE d (qk , qk +1 ) :=
tk +1
L(q (t ), q (t ))dt
tk
Consider discrete forces fd (qk , qk +1 ), fd+ (qk , qk +1 ) approximating the exact discrete forcing terms fdE (qk , qk +1 )T := fdE + (qk , qk +1 )T :=
tk +1 tk tk +1 tk
fL (q (t ), q (t ))T qk q (t )dt fL (q (t ), q (t ))T qk +1 q (t )dt
The discrete Lagrange-dAlembert principle of C. Kane, Marsden, Ortiz, and West (2000) for forced Lagrangian systems
N 1 k =0
Ld (qk , qk +1 )+
N 1 k =0
fd (qk , qk +1 )T qk + fd+ (qk , qk +1 )T qk +1 = 0
n {qk }N k =0 | qk R and q0 = 0 = qN . This leads to the forced discrete Euler-Lagrange equations
2 Ld (qk 1 , qk ) + 1 Ld (qk , qk +1 ) + fd+ (qk 1 , qk ) + fd (qk , qk +1 ) = 0 for k = 1, . . . , N 1 and which are satised by the exact discrete Lagrangian and the exact discrete forcing terms.
A discrete Lagrange-dAlembert principle for Lagrangian systems with nonholonomic constraints

Combine the forced discrete principle Lagrange-dAlembert principle with fL (q , v ) := K (q , v )T (q , v ) and the constraints 0 = c (qk , qk +1 ) = k (qk +1 , vk +1 (qk , qk +1 ))
v (tk +1 )
for k = 0, . . . , N 1
This leads to the nonholonomically constrained discrete Euler-Lagrange equations 2 Ld (qk 1 , qk ) + 1 Ld (qk , qk +1 ) + fd+ (qk 1 , qk ) + fd (qk , qk +1 ) = 0 c (qk 1 , qk ) = c (qk , qk +1 ) for k = 1, . . . , N 1 where c (q0 , q1 ) = 0 or c (qN 1 , qN ) = 0.
The exact discrete forcing terms

One can show that
E 1 LE d (qk , qk +1 ) = pk fd (qk , qk +1 ) E+ 2 LE d (qk , qk +1 ) = pk +1 fd (qk , qk +1 )
where pk := v L(qk , vk (qk , qk +1 )), pk +1 := v L(qk +1 , vk +1 (qk , qk +1 )) and fdE (qk , qk +1 )T := fdE + (qk , qk +1 )T :=
t1 t0 t1 t0
(q (t ), v (t ))T K (q (t ), v (t ))qk q (t )dt (q (t ), v (t ))T K (q (t ), v (t ))qk +1 q (t )dt
E E+ The exact terms LE d , fd , fd satisfy the new principle do not satisfy Cort es principle
Specialized Partitioned Additive Runge-Kutta (SPARK) methods for index 2 DAEs (J., BIT, 2003; Math. Comput., 2006)
Qi = q0 + h
s X j =1
aij Vj
i = 1, . . . , s
q1
q0 + h
s X j =1
bj Vj
s X j =1 s X j =1
v L(Qi , Vi ) v L(q1 , v1 ) 0 0
v L(q0 , v0 ) + h v L(q0 , v0 ) + h
s X j =1
s X j =1
b aij q L(Qj , Vj ) h b bj q L(Qj , Vj ) h i = 1, . . . , s 1
s X j =1
e bj K (Qj , Vj )T j
e aij K (Qj , Vj )T j
i = 1, . . . , s
= =
bj cji 1 k (Qj , Vj )
k (q1 , v1 )
Examples of SPARK methods

For L(q , v ) := 1 v T Mv U (q ), M sym. pos. def., k (q , v ) := K (q )v + b(q ) 2 The 1-stage Gauss SPARK (midpoint) method: q1 Mv1 0 = = = q0 + h (v0 + v1 ) 2 q0 + q1 q0 + q1 T Mv0 hU 1 hK 2 2 K (q1 )v1 + b(q1 )
The 2-stage Lobatto IIIA-B SPARK (Verlet) method: 1 Mv0 h (U (q0 ) + K (q0 )T 1 ) 2 q1 = q0 + hV1 1 1 (K (q0 )V1 + b(q0 )) + (K (q1 )V1 + b(q1 )) 0 = 2 2 h h or modied 0 = K q0 + V1 V1 + b q0 + V1 but no more SPARK 2 2 h 1 Mv1 + K (q1 )T 2 = MV1 h U (q1 ) 2 2 K (q1 )v1 = b(q1 ) MV1 =
Main Theorem
Let t0 , q0 , t1 , q1 be given. If bi = bi , bi aij + bj aji bi bj = 0 for i , j = 1, . . . , s ,
then we have a nonholonomically constrained discrete Lagrange-dAlembert integrator in the new sense with
s
Ld (q0 , q1 ) = h
i =1
bi L(Qi , Vi )
s
fd (q0 , q1 )T =
h
i =1 s
bi h bi h
s j =1 s j =1
aij T j K (Qj , Vj ) q0 Vi
fd+ (q0 , q1 )T = h
i =1
(bj aij )T j K (Qj , Vj ) q1 Vi
Main Theorem (cont.)

Moreover, if cs +1i + ci = 1
as +1i ,s +1j + aij = bs +1j = bj as +1i ,s +1j + aij = bs +1j = bj as +1i ,s +1j + aij = bs +1j = bj for i , j = 1, . . . , s then the SPARK method is symmetric and Ld (q1 , q0 ) = Ld (q0 , q1 ) fd (q1 , q0 ) = fd+ (q0 , q1 ) fd+ (q1 , q0 ) = fd (q0 , q1 )
E E+ as for the exact solution q (t0 ), q (t1 ) and exact terms LE d , fd , fd .
The exact discrete forcing terms

From q (t ) = q1
E fd (q0 , q1 )T
R t1
t
v (s )ds we have q0 q (t ) = Z
t1
R t1
t
q0 v (s )ds . Hence, Z
t1 t
= = = =
(q (t ), v (t ))T K (q (t ), v (t )) Z
t1
t0 Z t1 t0
t0 Z t1 t0 Z t1
q0 v (s )ds
t s
(q (t ), v (t ))T K (q (t ), v (t ))q0 v (s )ds
t0 Z s t0
(q (t ), v (t ))T K (q (t ), v (t ))q0 v (s )dt (q (t ), v (t ))T K (q (t ), v (t ))dt
dt dt
ds
q0 v (s )ds
Similarly fdE + (q0 , q1 )T = Z

t1
t0
t1 s
(q (t ), v (t ))T K (q (t ), v (t ))dt
q1 v (s )ds
Remark
For forced Lagrangians Kane, Marsden, Ortiz, and West (2000) originally proposed to take as a reasonable choice
s
fd (q0 , q1 )T = h
i =1
bi fL (Qi , Vi )T q0 Qi
corresponding here to
s
fd (q0 , q1 )T
= h
i =1 s
bi T i K (Qi , Vi )q0 Qi bi T i K (Qi , Vi ) I + h

s j =1
= h
i =1
aij q0 Vj
which is not equivalent
Example: The nonholonomic particle
L(q , v ) =
1 2 2 2 2 2 (v + v2 + v3 ) (q1 + q2 ) 2 1 0 = v 3 q2 v 1 1 0 0 0 1 0
T T
q0 = v0 = t0 = 0
h = 0.2
Example: The nonholonomic particle (cont.)

8 6 E E
0 k
x 10
1stage Gauss SPARK
4 2 0 0 x 10
5
50
100
150 t 2stage Gauss SPARK
200
250
0 1 2 3
0 k
E E
0 x 10
7
50
100
150 t 3stage Gauss SPARK
200
250
2 1.5 E E
0 k
1 0.5 0 0 50 100 t 150 200 250
Example: The skate on an inclined plane
L(q , v ) =
m 2 J 2 2 (v1 + v2 ) + v3 + mg sin()q1 2 2 0 = cos(q3 )v2 sin(q3 )v1 J = 1, 0 0 0 0 0 1

T T
m = 1, q0 = v0 = t0 = 0 h = 0.1
g sin() = 1
Example: The skate on an inclined plane (cont.)

0 Ek E0 1 2 3 x 10
3
2stage Lobatto IIIAB SPARK
0 x 10
7
10
20
30
50 60 t 3stage Lobatto IIIAB SPARK
40
70
80
90
100
8 6 Ek E0 4 2 0
0 x 10
10
10
20
30
40 50 60 t 4stage Lobatto IIIAB SPARK
70
80
90
100
0 Ek E0
0.5
10
20
30
40
50 t
60
70
80
90
100
Example: A mobile robot
L(q , v ) =
J 2 3 m 2 2 2 (v + v2 ) + v3 + J v4 10 sin(q4 ) 2 1 2 2 0 = v1 cos(q3 )v4 0 = v2 sin(q3 )v4 J = 1, 0 0 0 0 1 0 0 1 J = 1,

T T
m = 1, q0 = v0 = t0 = 0 h = 0.2
=1
Example: A mobile robot (cont.)

2stage Lobatto IIIABD SPARK 0.1 0 E E
0 k
0.1 0.2 0.3 0 x 10

4
50
100 t 3stage Lobatto IIIABD SPARK
150
6 4 E E
0 k
2 0 2 0 x 10
6
50
100 t 4stage Lobatto IIIABD SPARK
150
1 0 1 2
0 k
E E
50 t
100
150
Example: McLachlan and Perlmutters particles

1 v 2 1 2 v1 + 0 ` `
T (v ) U (q )
= =
2 2,
n = 2m + 1 (m 2)
2 2
2 2 qm +2 qm+3
0 t0 qj 0 vj 0 E0 h
= = = = = =
i =m+2
n X
m X i =1
2 2 q1+ i qm+1+i
qi vi T
cos(j /(2J )) 0
0.6 0
0.4 0
0.2 0 0
1 0
sin(j /(2J ))
3.06 0.05
1 (J +1)
1 1 T
j = 0, . . . , J
j = 0, . . . , J
Let ((Ek E0 )2 ) :=
PJ
j =0 (Ejk
E0 )2 and J + 1 = 10
Example: McLachlan and Perlmutters particles (cont.)
((E E ) )/h
2stage Lobatto IIIAB SPARK 10 5 0
.k
0.5
1.5
2.5
3.5
4.5 x 10
5
4
((E E ) )/h
modified 2stage Lobatto IIIAB SPARK 10 5 0
.k
0.5
1.5
2.5
3.5
4.5 x 10
5
4
((E E ) )/h
McLachlanPerlmutter 2stage Lobatto IIIBA 10 5 0
.k
0.5
1.5
2.5 t
3.5
4.5 x 10
5
4
We observe
1 h4
like for a random walk
((Ek E0 )2 ) O (tk ) or equivalently
p ((Ek E0 )2 ) O (h2 tk )
Constrained systems in mechanics

d y dt d p (y , z ) dt 0 0 0 is a system of DAEs where y v p f,r g k : : : : : : : : coordinates velocities momenta forces holonomic constraints Lagrange multipliers associated to g nonholonomic constraints Lagrange multipliers associated to k = = = = = v (y , z ) f (y , z , ) + r (y , ) g (y ) gy (y )v (y , z ) k (y , z )
Lagranges mechanics: v (y , z ) z Hamiltons mechanics: p (y , z ) z
Constrained systems in mechanics (cont.)

This system of DAEs is: overdetermined implicit partitioned additive (split) Manifold of constraints: M := {(y , z ) Rny Rnz | 0 = g (y ), 0 = gy (y )v (y , z ), 0 = k (y , z )} Assumptions: (q0 , v0 ) M , v , p , f , . . . suciently dierentiable, and invertibility of pz gy vz r O , 0 pz @ gy vz kz r O O 1 f O A O (1)
= existence and uniqueness of a solution
SPARK methods
Yi y1 p (Yi , Zi ) z1 ei Y = = = = = = = = = = y0 + h Ys +1
s X j =1
ij v (Yj , Zj )
i = 1, . . . , s + 1
p (y0 , z0 ) + h Zs +1 y0 + h ei ) g (Y
s X j =1 s X j =1
s X j =1
bij f (Yj , Zj , j ) + h
e s X j =0
ej , ej ) eij r (Y
i = 1, . . . , s + 1
aij v (Yj , Zj )
0 0
g (y1 )
gy (y1 )v (y1 , z1 )
i = 0, 1, . . . , e s ee (y1 = Y s)
i = 0, 1, . . . , e s e0 = y0 ) (Y
0 0
bj cji 1 k (Yj , Zj )
i = 1, . . . , s 1
k (y1 , v1 )
Some denitions
:= ` A bT 0s , b := + AM
1
e Q M
:=
Is
b A b bT
:=
0 B B B B B @
bT bT bT A . . . b T (s 1)b T C s 2 A
e :=
b T A1 1 0 1 C C D (s 1) C = C C A B B B B B @
e A e bT
! ,
bT bT C . . . b T C s 1
1 1 B . C B , s := @ . C . A 1 0 1 C C C C C A
C := diag(c1 , . . . , cs ),
with simplifying assumption D (s 1) : kb C

T k 1
A=b
b C
k = 1, . . . , s 1
:=
e Q T Q
:= s +1 !
b T A1 a11 . . . as 1 . . .
:=
1 A 0T s
0s 1
B := B A @
1 a1s . C . C . A ass
where we assume e s =s
Equivalent reformulation of SPARK methods

BB BB (Q Inz ) BB @@ 00 p (Y1 , Z1 ) . . . p (Ys , Zs ) p (y1 , z1 ) 1 C C C s +1 p (y0 , z0 ) A 0
B B In ) B (Q B B @
B e In ) B (Q B @
k (Y1 , Z1 ) . . . k (Ys , Zs ) k (y1 , z1 )
0 1 e1 , e1 ) r (Y f (Y1 , Z1 , 1 ) B C B . . B . h ( e I ) . h( b Inz ) @ A nz @ . . es , es ) f (Ys , Zs , s ) r (Y 1 Ps 1 g y0 + h j =1 a1j v (Yj , Zj ) h C C . . C . C C Ps 1 g y0 + h j =1 asj v (Yj , Zj ) A

h
11 CC CC AA
gy (y1 )v (y1 , z1 ) 1 C C C A
Modied Newton iterations

Modied Jacobian of the reformulated SPARK methods 0 Is +1 Iny B O B @ O O O Q pz Q gy vz e kz Q O hQ e r O O 1 O hQ b f C C A O O
For the modied Newton iterations to obtain a block diagonal linear system with the 2 matrices (1) we dene the intermediate quantities 0 B B B @ 1 0 1 z Z1 1 B . C C . . B . C C . C := (Q Inz ) B . C , @ Z A A z s s z z 1 s +1 1 0 1 1 1 C C . . e b In ) B C . . A @ . A := h(Q . s s 0 B B B @ 1 . . . s s +1 1 e0 B e1 C B C e In ) B C := h(Q . B . A @ . es 0 1 C C C C A
0 B B @
Modied Newton iterations (cont.)

We assume Q b= 0 1 1 B C . . @ A . s 0 1 Z1 B . C B . C B . C @ Z A s z 1 0 1 e0 B e1 C B C B . C B . C @ . A es e Q b 0T s 0 1 1 C . C . . A s 1 C C C A
and we use
1 e 1 ((Q b) h (Q 1
B In ) B @ 0
B B Inz ) B @
1 ((Q e)1 h
B B In ) B @
z 1 . . . z s z s +1 0
1 . . . s s +1
1 C C C A
Example: The skate on an inclined plane in Cartesian coordinates

L(q , v ) = m 2 (q1 + q3 ) 2 2 2 (v1 + v2 + v3 + v4 ) + mg sin() 4 2 1 2 2 2 (q3 q1 ) + (q4 q2 ) =: g (q ) 0 = 2 0 = (q3 q1 )(v3 v1 ) + (q4 q2 )(v4 v2 ) =: gq (q )v 0 = (q3 q1 )(v2 + v4 ) (q4 q2 )(v1 + v3 ) =: k (q , v ) m = 1, q0 = 2 v0 = 2 t0 = 0 h = 0.1 g sin() = 1, 1 0 1 0 0 1 0 1 =2
T T
Example: The skate on an inclined plane in Cartesian coordinates (cont.)

3 2.5 2 EnE0 1.5 1 0.5 0 0 10 20 30 40 50 t 60 70 80 90 100 x 10
3
1stage GaussLobatto SPARK
0 1 2 EnE0 3 4 5 6 7
x 10
2stage GaussLobatto SPARK
10
20
30
40
50 t
60
70
80
90
100
Conclusions
We have presented a new discrete Lagrange-dAlembert principle for Lagrangian systems with nonholonomic constraints which is consistent with the discrete Lagrange-dAlembert principle for forced Lagrangian systems of Kane, Marsden, Ortiz, and West Unlike Cort es principle the new discrete Lagrange-dAlembert principle is satised by both the exact solution and a large class of SPARK methods of arbitrarily high order SPARK methods have strong foundations Implementation of SPARK methods can be done eciently but is not straightforward
Further issues
Convergence proof for problems with mixed holonomic/nonholonomic constraints (done for Lobatto IIIA-B-C-C -D methods by Hyounkyun Oh, PhD thesis, U. of Iowa, 2005) Backward error analysis Reduction theory Dissipation/friction/impact/contact

LaurentJayGraphLagrangian PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

LaurentJayGraphLagrangian PDF

Uploaded by

Copyright:

Available Formats

Lagrange-dAlembert integrators for constrained systems in mechanics

Lagrange-dAlembert integrators for constrained systems in mechanics

June 17-20, 2009

Lagrange-dAlembert integrators for constrained systems in mechanics

Lagrangian systems with nonholonomic constraints

Lagrange-dAlembert integrators for constrained systems in mechanics

Applications with nonholonomic constraints

Lagrange-dAlembert integrators for constrained systems in mechanics

The underlying forced Lagrangian system

Lagrange-dAlembert integrators for constrained systems in mechanics

The Lagrange-dAlembert principle

Lagrange-dAlembert integrators for constrained systems in mechanics

Equivalence to a skew critical problem when k (q , v ) = K (q )v

Lagrange-dAlembert integrators for constrained systems in mechanics

Cort es discrete Lagrange-dAlembert principle (2001)

Consider a discrete Lagrangian

2 Ld (qk 1 , qk ) + 1 Ld (qk , qk +1 ) = K (qk )T k

Lagrange-dAlembert integrators for constrained systems in mechanics

Example of a LDA method

Lagrange-dAlembert integrators for constrained systems in mechanics

Quote from McLachlan and Perlmutter (2006)

Lagrange-dAlembert integrators for constrained systems in mechanics

Forced Lagrangian systems

Lagrange-dAlembert integrators for constrained systems in mechanics

fL (q (t ), q (t ))T qk q (t )dt fL (q (t ), q (t ))T qk +1 q (t )dt

Lagrange-dAlembert integrators for constrained systems in mechanics

fd (qk , qk +1 )T qk + fd+ (qk , qk +1 )T qk +1 = 0

n {qk }N k =0 | qk R and q0 = 0 = qN . This leads to the forced discrete Euler-Lagrange equations

Lagrange-dAlembert integrators for constrained systems in mechanics

A discrete Lagrange-dAlembert principle for Lagrangian systems with nonholonomic constraints

Lagrange-dAlembert integrators for constrained systems in mechanics

The exact discrete forcing terms

(q (t ), v (t ))T K (q (t ), v (t ))qk q (t )dt (q (t ), v (t ))T K (q (t ), v (t ))qk +1 q (t )dt

Lagrange-dAlembert integrators for constrained systems in mechanics

b aij q L(Qj , Vj ) h b bj q L(Qj , Vj ) h i = 1, . . . , s 1

Lagrange-dAlembert integrators for constrained systems in mechanics

Examples of SPARK methods

Lagrange-dAlembert integrators for constrained systems in mechanics

(bj aij )T j K (Qj , Vj ) q1 Vi

Lagrange-dAlembert integrators for constrained systems in mechanics

Main Theorem (cont.)

Lagrange-dAlembert integrators for constrained systems in mechanics

The exact discrete forcing terms

(q (t ), v (t ))T K (q (t ), v (t ))q0 v (s )ds

(q (t ), v (t ))T K (q (t ), v (t ))q0 v (s )dt (q (t ), v (t ))T K (q (t ), v (t ))dt

Similarly fdE + (q0 , q1 )T = Z

Lagrange-dAlembert integrators for constrained systems in mechanics

bi T i K (Qi , Vi )q0 Qi bi T i K (Qi , Vi ) I + h

which is not equivalent

Lagrange-dAlembert integrators for constrained systems in mechanics

Example: The nonholonomic particle

Lagrange-dAlembert integrators for constrained systems in mechanics

Example: The nonholonomic particle (cont.)

1stage Gauss SPARK

150 t 2stage Gauss SPARK

150 t 3stage Gauss SPARK

1 0.5 0 0 50 100 t 150 200 250

Lagrange-dAlembert integrators for constrained systems in mechanics

Example: The skate on an inclined plane

m 2 J 2 2 (v1 + v2 ) + v3 + mg sin()q1 2 2 0 = cos(q3 )v2 sin(q3 )v1 J = 1, 0 0 0 0 0 1

Lagrange-dAlembert integrators for constrained systems in mechanics

Example: The skate on an inclined plane (cont.)

2stage Lobatto IIIAB SPARK