Discrete constrained lagrangian systems and geometric constraint stabilization

Hiroaki Yoshimura*, Azumi Yoshida

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

1 Citation (Scopus)


We develop discrete Lagrangian systems with holonomic constraints by employing the discrete Lagrange-d'Alembert principle, which was originally proposed by [5, 6]. Especially, we focus on the class of discrete holonomic Lagrangian systems in the context of the index 2 model, i.e., discrete Lagrange-d'Alembert equations with velocity-level constraints, while the lower index formulation may induce constraint violations called drift-off phenomena. So we incorporate geometric constraint stabilization proposed by [7, 8] into the discrete holonomic Lagrangian systems in order to avoid the constraint violations. We demonstrate numerical validity in making use of discrete Lagrange-d'Alembert equations for the index 2 model of holonomic mechanical systems with an illustrative example of linkage mechanisms.

Original languageEnglish
Pages (from-to)1292-1295
Number of pages4
JournalAIP Conference Proceedings
Publication statusPublished - 2010
Externally publishedYes
EventInternational Conference on Numerical Analysis and Applied Mathematics 2010, ICNAAM-2010 - Rhodes, Greece
Duration: 2010 Sept 192010 Sept 25


  • Discrete Constrained Lagrangian Systems
  • Geometric Constraint Stabilization
  • Holonomic Constraints
  • Variational Integrator

ASJC Scopus subject areas

  • Physics and Astronomy(all)


Dive into the research topics of 'Discrete constrained lagrangian systems and geometric constraint stabilization'. Together they form a unique fingerprint.

Cite this