TY - GEN
T1 - Variational Principle for Stochastic Nonholonomic Systems Part II
T2 - 7th International Conference on Geometric Science of Information, GSI 2025
AU - Li, Tianzhi
AU - Gay-Balmaz, François
AU - Shi, Donghua
AU - Wang, Jinzhi
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.
PY - 2026/1/1
Y1 - 2026/1/1
N2 - Nonholonomic integrators are a class of geometric numerical integration schemes that are designed to simulate mechanical systems with nonholonomic constraints. To the best of our knowledge, so far there have been no variational integrators designed for stochastic systems with noisy nonholonomic constraints, which are extensively studied in robotics and control area. Based on the stochastic nonholonomic variational formulation introduced in Part I, we present a stochastic integrator for both stochastically unconstrained and stochastically nonholonomic systems under the same framework. The numerical integration scheme is obtained by deriving a discrete counterpart of the stochastic variational principle discussed in Part I.
AB - Nonholonomic integrators are a class of geometric numerical integration schemes that are designed to simulate mechanical systems with nonholonomic constraints. To the best of our knowledge, so far there have been no variational integrators designed for stochastic systems with noisy nonholonomic constraints, which are extensively studied in robotics and control area. Based on the stochastic nonholonomic variational formulation introduced in Part I, we present a stochastic integrator for both stochastically unconstrained and stochastically nonholonomic systems under the same framework. The numerical integration scheme is obtained by deriving a discrete counterpart of the stochastic variational principle discussed in Part I.
KW - Noisy constraints
KW - Stochastic discrete Hamel’s formalism
KW - Stochastic nonholonomic integrator
UR - https://www.scopus.com/pages/publications/105035316606
U2 - 10.1007/978-3-032-03921-7_23
DO - 10.1007/978-3-032-03921-7_23
M3 - Conference contribution
AN - SCOPUS:105035316606
SN - 9783032039200
T3 - Lecture Notes in Computer Science
SP - 225
EP - 233
BT - Geometric Science of Information - 7th International Conference, GSI 2025, Proceedings
A2 - Nielsen, Frank
A2 - Barbaresco, Frédéric
PB - Springer Science and Business Media Deutschland GmbH
Y2 - 29 October 2025 through 31 October 2025
ER -