Energy-Work Connection Integration Scheme for Nonholonomic Hamiltonian Systems

This paper focuses on studying a new energy-work relationship numerical integration scheme of nonholonomic Hamiltonian systems. The signal-stage numerical, multi-stage and parallel composition numerical integration schemes are presented. The high-order energy-work relation scheme of the system is constructed by a parallel connection of n multi-stage schemes of order 2, its order of accuracy is 2n. The connection, which is discrete analogue of usual case, between the change of energy and work of nonholonomic constraint forces is obtained for nonholonomic Hamiltonian systems. This paper also gives that there is smaller error of the scheme when taking a large number of stages than a less one. Finally, an applied example is discussed to illustrate these results