A Herglotz-based integrator for nonholonomic mechanical systems (Q6160681)

In this paper, a numerical integrator is developed for nonconservative and nonholonomically constrained systems. The integrator is constructed by combining the criterion for the discretization of nonholonomic constraints in the context of Lagrange-d'Alembert principle and an integrator for dissipative systems, which makes use of a discrete version of the Herglotz's variational principle. The integrator is validated with simulations of two mechanical systems, namely the dissipative Foucault pendulum and the rolling falling disk with dissipation and a forcing term and compared with the standard procedures available in the literature