3,717 research outputs found
A Discrete Geometric Optimal Control Framework for Systems with Symmetries
This paper studies the optimal motion control of
mechanical systems through a discrete geometric approach. At
the core of our formulation is a discrete Lagrange-d’Alembert-
Pontryagin variational principle, from which are derived discrete
equations of motion that serve as constraints in our optimization
framework. We apply this discrete mechanical approach to
holonomic systems with symmetries and, as a result, geometric
structure and motion invariants are preserved. We illustrate our
method by computing optimal trajectories for a simple model of
an air vehicle flying through a digital terrain elevation map, and
point out some of the numerical benefits that ensue
Mechanical Systems with Symmetry, Variational Principles, and Integration Algorithms
This paper studies variational principles for mechanical systems with symmetry and their applications to integration algorithms. We recall some general features of how to reduce variational principles in the presence of a symmetry group along with general features of integration algorithms for mechanical systems. Then we describe some integration algorithms based directly on variational principles using a
discretization technique of Veselov. The general idea for these variational integrators is to directly discretize Hamilton’s principle rather than the equations of motion in a way that preserves the original systems invariants, notably the symplectic form and, via a discrete version of Noether’s theorem, the momentum map. The resulting mechanical integrators are second-order accurate, implicit, symplectic-momentum algorithms. We apply these integrators to the rigid body and the double spherical pendulum to show that the techniques are competitive with existing integrators
Simulating Nonholonomic Dynamics
This paper develops different discretization schemes for nonholonomic
mechanical systems through a discrete geometric approach. The proposed methods
are designed to account for the special geometric structure of the nonholonomic
motion. Two different families of nonholonomic integrators are developed and
examined numerically: the geometric nonholonomic integrator (GNI) and the
reduced d'Alembert-Pontryagin integrator (RDP). As a result, the paper provides
a general tool for engineering applications, i.e. for automatic derivation of
numerically accurate and stable dynamics integration schemes applicable to a
variety of robotic vehicle models
Poisson integrators
An overview of Hamiltonian systems with noncanonical Poisson structures is
given. Examples of bi-Hamiltonian ode's, pde's and lattice equations are
presented. Numerical integrators using generating functions, Hamiltonian
splitting, symplectic Runge-Kutta methods are discussed for Lie-Poisson systems
and Hamiltonian systems with a general Poisson structure. Nambu-Poisson systems
and the discrete gradient methods are also presented.Comment: 30 page
Geometric Numerical Integration Applied to The Elastic Pendulum at Higher Order Resonance
In this paper we study the performance of a symplectic numerical integrator
based on the splitting method. This method is applied to a subtle problem i.e.
higher order resonance of the elastic pendulum. In order to numerically study
the phase space of the elastic pendulum at higher order resonance, a numerical
integrator which preserves qualitative features after long integration times is
needed. We show by means of an example that our symplectic method offers a
relatively cheap and accurate numerical integrator.Comment: 15 pages, 6 figure
Splitting and composition methods in the numerical integration of differential equations
We provide a comprehensive survey of splitting and composition methods for
the numerical integration of ordinary differential equations (ODEs). Splitting
methods constitute an appropriate choice when the vector field associated with
the ODE can be decomposed into several pieces and each of them is integrable.
This class of integrators are explicit, simple to implement and preserve
structural properties of the system. In consequence, they are specially useful
in geometric numerical integration. In addition, the numerical solution
obtained by splitting schemes can be seen as the exact solution to a perturbed
system of ODEs possessing the same geometric properties as the original system.
This backward error interpretation has direct implications for the qualitative
behavior of the numerical solution as well as for the error propagation along
time. Closely connected with splitting integrators are composition methods. We
analyze the order conditions required by a method to achieve a given order and
summarize the different families of schemes one can find in the literature.
Finally, we illustrate the main features of splitting and composition methods
on several numerical examples arising from applications.Comment: Review paper; 56 pages, 6 figures, 8 table
Variational Integrators for Reduced Magnetohydrodynamics
Reduced magnetohydrodynamics is a simplified set of magnetohydrodynamics
equations with applications to both fusion and astrophysical plasmas,
possessing a noncanonical Hamiltonian structure and consequently a number of
conserved functionals. We propose a new discretisation strategy for these
equations based on a discrete variational principle applied to a formal
Lagrangian. The resulting integrator preserves important quantities like the
total energy, magnetic helicity and cross helicity exactly (up to machine
precision). As the integrator is free of numerical resistivity, spurious
reconnection along current sheets is absent in the ideal case. If effects of
electron inertia are added, reconnection of magnetic field lines is allowed,
although the resulting model still possesses a noncanonical Hamiltonian
structure. After reviewing the conservation laws of the model equations, the
adopted variational principle with the related conservation laws are described
both at the continuous and discrete level. We verify the favourable properties
of the variational integrator in particular with respect to the preservation of
the invariants of the models under consideration and compare with results from
the literature and those of a pseudo-spectral code.Comment: 35 page
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