{"paper":{"title":"Energy-Preserving Integrators Applied to Nonholonomic Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math-ph","math.MP"],"primary_cat":"math.NA","authors_text":"David Mart\\'in de Diego, Eirik Hoel H{\\o}iseth, Elena Celledoni, Marta Farr\\'e Puiggal\\'i","submitted_at":"2016-05-10T04:40:32Z","abstract_excerpt":"We introduce energy-preserving integrators for nonholonomic mechanical systems. We will see that the nonholonomic dynamics is completely determined by a triple $({\\mathcal D}^*, \\Pi, \\mathcal{H})$, where ${\\mathcal D}^*$ is the dual of the vector bundle determined by the nonholonomic constraints, $\\Pi$ is an almost-Poisson bracket (the nonholonomic bracket) and $\\mathcal{H}:{\\mathcal D}^{*}\\rightarrow \\mathbb{R}$ is a Hamiltonian function. For this triple, we can apply energy-preserving integrators, in particular, we show that discrete gradients can be used in the numerical integration of nonh"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1605.02845","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}