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Simulating nonholonomic dynamics

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Abstract

This paper develops different discretization schemes for nonholonomic mechanical systems through a discrete geometric approach. The proposed methods are designed to account for the special geometric structure of the nonholonomic motion. Two different families of nonholonomic integrators are developed and examined numerically: the geometric nonholonomic integrator (GNI) and the reduced d’Alembert-Pontryagin integrator (RDP). As a result, the paper provides a general tool for engineering applications, i.e. for automatic derivation of numerically accurate and stable dynamics integration schemes applicable to a variety of robotic vehicle models.

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Authors and Affiliations

  1. Control and Dynamical Systems, California Institute of Technology, Pasadena, CA, 91125, USA

    M. Kobilarov

  2. Institute de Ciencias Matemáticas, CSIC-UAM-UC3M-UCM, Serrano 123, 28006, Madrid, Spain

    D. Martín de Diego

  3. Departamento de Matemática e Instituto de Matemática, Universidad Nacional del Sur, Av. Alem 1253, 8000, Bahía Blanca, Argentina

    S. Ferraro

Authors
  1. M. Kobilarov
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  2. D. Martín de Diego
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  3. S. Ferraro
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Correspondence to M. Kobilarov.

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Kobilarov, M., de Diego, D.M. & Ferraro, S. Simulating nonholonomic dynamics. SeMA 50, 61–81 (2010). https://doi.org/10.1007/BF03322542

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