Lagrangian reduction of nonholonomic discrete mechanical systems
2010
In this paper we propose a process of lagrangian reduction and
reconstruction for nonholonomic discrete mechanical systems where
the action of a continuous symmetry group makes the configuration
space a principal bundle. The result of the reduction process is a
discrete dynamical system that we call the discrete reduced
system. We illustrate the techniques by analyzing two types of
discrete symmetric systems where it is possible to go further and
obtain (forced) discrete mechanical systems that determine the
dynamics of the discrete reduced system.
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