A comparison of geometric integrators for nonconservative and nonholonomic systems

Resumo

In this paper, we incorporate nonholonomic constraints to the contact integrator obtained from the Her-
glotz’ variational principle. This results in a geometric integrator which is suitable for nonconservative, nonholo-
nomic systems. We compare this integrator with the more traditional one obtained from the Lagrange-d’Alembert

principle. The comparison is performed using numerical simulations on both holonomic and nonholonomic cases.
For the holonomic case, in addition to the numerical simulations we present a recently developed backward error
analysis.