Discrete rigid body dynamics and optimal control

We analyze an alternative formulation of the rigid body equations, their relationship with the discrete rigid body equations of Moser-Veselov (1991) and their formulation as an optimal control problem. In addition we discuss a general class of discrete optimal control problems

Integrable discretizations of some cases of the rigid body dynamics

A heavy top with a fixed point and a rigid body in an ideal fluid are important examples of Hamiltonian systems on a dual to the semidirect product Lie algebra $e(n)=so(n)\ltimes\mathbb R^n$. We give a Lagrangian derivation of the corresponding equations of motion, and introduce discrete time analogs of two integrable cases of these systems: the Lagrange top and the Clebsch case, respectively. The construction of discretizations is based on the discrete time Lagrangian mechanics on Lie groups, accompanied by the discrete time Lagrangian reduction. The resulting explicit maps on $e^*(n)$ are Poisson with respect to the Lie--Poisson bracket, and are also completely integrable. Lax representations of these maps are also found.Comment: arXiv version is already officia

Ehrenfest regularization of Hamiltonian systems

Imagine a freely rotating rigid body. The body has three principal axes of rotation. It follows from mathematical analysis of the evolution equations that pure rotations around the major and minor axes are stable while rotation around the middle axis is unstable. However, only rotation around the major axis (with highest moment of inertia) is stable in physical reality (as demonstrated by the unexpected change of rotation of the Explorer 1 probe). We propose a general method of Ehrenfest regularization of Hamiltonian equations by which the reversible Hamiltonian equations are equipped with irreversible terms constructed from the Hamiltonian dynamics itself. The method is demonstrated on harmonic oscillator, rigid body motion (solving the problem of stable minor axis rotation), ideal fluid mechanics and kinetic theory. In particular, the regularization can be seen as a birth of irreversibility and dissipation. In addition, we discuss and propose discretizations of the Ehrenfest regularized evolution equations such that key model characteristics (behavior of energy and entropy) are valid in the numerical scheme as well

Laurent Polynomials and Superintegrable Maps

This article is dedicated to the memory of Vadim Kuznetsov, and begins with some of the author's recollections of him. Thereafter, a brief review of Somos sequences is provided, with particular focus being made on the integrable structure of Somos-4 recurrences, and on the Laurent property. Subsequently a family of fourth-order recurrences that share the Laurent property are considered, which are equivalent to Poisson maps in four dimensions. Two of these maps turn out to be superintegrable, and their iteration furnishes infinitely many solutions of some associated quartic Diophantine equations

An integrable discretization of the rational su(2) Gaudin model and related systems

The first part of the present paper is devoted to a systematic construction of continuous-time finite-dimensional integrable systems arising from the rational su(2) Gaudin model through certain contraction procedures. In the second part, we derive an explicit integrable Poisson map discretizing a particular Hamiltonian flow of the rational su(2) Gaudin model. Then, the contraction procedures enable us to construct explicit integrable discretizations of the continuous systems derived in the first part of the paper.Comment: 26 pages, 5 figure

Palindromic 3-stage splitting integrators, a roadmap

The implementation of multi-stage splitting integrators is essentially the same as the implementation of the familiar Strang/Verlet method. Therefore multi-stage formulas may be easily incorporated into software that now uses the Strang/Verlet integrator. We study in detail the two-parameter family of palindromic, three-stage splitting formulas and identify choices of parameters that may outperform the Strang/Verlet method. One of these choices leads to a method of effective order four suitable to integrate in time some partial differential equations. Other choices may be seen as perturbations of the Strang method that increase efficiency in molecular dynamics simulations and in Hybrid Monte Carlo sampling.Comment: 20 pages, 8 figures, 2 table