Paper detail

On the discretization of nonholonomic dynamics in $\mathbb{R}^n$

In this paper we explore the nonholonomic Lagrangian setting of mechanical systems in local coordinates on finite-dimensional configuration manifolds. We prove existence and uniqueness of solutions by reducing the basic equations of motion to a set of ordinary differential equations on the underlying distribution manifold $D$. Moreover, we show that any $D-$preserving discretization may be understood as beeing generated by the exact evolution map of a time-periodic non-autonomous perturbation of the original continuous-time nonholonomic system. By means of discretizing the corresponding Lagrange-d'Alembert principle, we construct geometric integrators for the original nonholonomic system. We give precise conditions under which these integrators generate a discrete flow preserving the distribution $D$. Also, we derive corresponding consistency estimates. Finally, we carefully treat the example of the nonholonomic particle, showing how to discretize the equations of motion in a reasonable way, particularly regarding the nonholonomic constraints. The exploration in this paper lays the ground to analyze the dynamics of appropriate discretizations of nonholonomic mechnical systems in the Lagrangian framework and to relate that dynamics to the dynamics of the original nonholonomic systems. We postpone this analysis to a series of forthcoming papers.