On the geometric stabilization for discrete Hamiltonian systems with holonomic constraints

Hiroaki Yoshimura, Kenji Soya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper develops a discrete Hamiltonian system with holonomic constraints with Geometric Constraint Stabilization. It is first shown that constrained mechanical systems with nonconservative external forces can be formulated by using canonical symplectic structures in the context of Hamiltonian systems. Second, it is shown that discrete holonomic Hamiltonian systems can be developed via the discretization based on the Backward Differentiation Formula and also that geometric constraint stabilization can be incorporated into the discrete Hamiltonian systems. It is demonstrated that the proposed method enables one to stabilize constraint violations effectively in comparison with conventional methods such as Baumgarte Stabilization and Gear-Gupta-Leimkuhler Stabilization, together with an illustrative example of linkage mechanisms.

Original languageEnglish
Title of host publicationProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages517-521
Number of pages5
EditionPART A
DOIs
Publication statusPublished - 2010 Jun 24
Event2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 - San Diego, CA, United States
Duration: 2009 Aug 302009 Sep 2

Publication series

NameProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
NumberPART A
Volume4

Conference

Conference2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
CountryUnited States
CitySan Diego, CA
Period09/8/3009/9/2

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Hardware and Architecture
  • Electrical and Electronic Engineering

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  • Cite this

    Yoshimura, H., & Soya, K. (2010). On the geometric stabilization for discrete Hamiltonian systems with holonomic constraints. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 (PART A ed., pp. 517-521). (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 4, No. PART A). https://doi.org/10.1115/DETC2009-86354