Fractional variational integrators for fractional Euler–Lagrange equations with holonomic constraints

In this paper, the fractional variational integrators developed by Wang and Xiao (2012) [28] are extended to the fractional Euler–Lagrange (E–L) equations with holonomic constraints. The corresponding fractional discrete E–L equations are derived, and their local convergence is discussed. Some fractional variational integrators are presented. The suggested methods are shown to be efficient by some numerical examples.