Structure-preserving integrators based on a new variational principle for constrained mechanical systems - Kinon, Philipp L.; Betsch, Peter; Schneider, Simeon (Nonlinear dynamics, 2023)
Keywords: Automotive Engineering; Classical Mechanics; Constraints; Control; Differential equations; Discretization; Dynamical Systems; Energy; Engineering; Euler-Lagrange equation; Integrators; Lie groups; Mathematical analysis; Mechanical Engineering; Mechanical systems; Momentum; Original Paper; Pontryagin principle; Stabilization; Vibration; Index reduction; GGL stabilization; GGL principle; Livens principle; Variational integrators; Energy–momentum methods; Holonomic constraints; Structure-preserving integration