Backward error analysis and the substitution law for Lie group integrators

Butcher series are combinatorial devices used in the study of numerical methods for differential equations evolving on vector spaces. More precisely, they are formal series developments of differential operators indexed over rooted trees, and can be used to represent a large class of numerical methods. The theory of backward error analysis for differential equations has a particularly nice description when applied to methods represented by Butcher series. For the study of differential equations evolving on more general manifolds, a generalization of Butcher series has been introduced, called Lie--Butcher series. This paper presents the theory of backward error analysis for methods based on Lie--Butcher series.Comment: Minor corrections and additions. Final versio

On post-Lie algebras, Lie--Butcher series and moving frames

Pre-Lie (or Vinberg) algebras arise from flat and torsion-free connections on differential manifolds. They have been studied extensively in recent years, both from algebraic operadic points of view and through numerous applications in numerical analysis, control theory, stochastic differential equations and renormalization. Butcher series are formal power series founded on pre-Lie algebras, used in numerical analysis to study geometric properties of flows on euclidean spaces. Motivated by the analysis of flows on manifolds and homogeneous spaces, we investigate algebras arising from flat connections with constant torsion, leading to the definition of post-Lie algebras, a generalization of pre-Lie algebras. Whereas pre-Lie algebras are intimately associated with euclidean geometry, post-Lie algebras occur naturally in the differential geometry of homogeneous spaces, and are also closely related to Cartan's method of moving frames. Lie--Butcher series combine Butcher series with Lie series and are used to analyze flows on manifolds. In this paper we show that Lie--Butcher series are founded on post-Lie algebras. The functorial relations between post-Lie algebras and their enveloping algebras, called D-algebras, are explored. Furthermore, we develop new formulas for computations in free post-Lie algebras and D-algebras, based on recursions in a magma, and we show that Lie--Butcher series are related to invariants of curves described by moving frames.Comment: added discussion of post-Lie algebroid

On the Lie enveloping algebra of a post-Lie algebra

We consider pairs of Lie algebras $g$ and $\bar{g}$, defined over a common vector space, where the Lie brackets of $g$ and $\bar{g}$ are related via a post-Lie algebra structure. The latter can be extended to the Lie enveloping algebra $U(g)$. This permits us to define another associative product on $U(g)$, which gives rise to a Hopf algebra isomorphism between $U(\bar{g})$ and a new Hopf algebra assembled from $U(g)$ with the new product. For the free post-Lie algebra these constructions provide a refined understanding of a fundamental Hopf algebra appearing in the theory of numerical integration methods for differential equations on manifolds. In the pre-Lie setting, the algebraic point of view developed here also provides a concise way to develop Butcher's order theory for Runge--Kutta methods.Comment: 25 page

Formal series and numerical integrators: some history and some new techniques

This paper provides a brief history of B-series and the associated Butcher group and presents the new theory of word series and extended word series. B-series (Hairer and Wanner 1976) are formal series of functions parameterized by rooted trees. They greatly simplify the study of Runge-Kutta schemes and other numerical integrators. We examine the problems that led to the introduction of B-series and survey a number of more recent developments, including applications outside numerical mathematics. Word series (series of functions parameterized by words from an alphabet) provide in some cases a very convenient alternative to B-series. Associated with word series is a group G of coefficients with a composition rule simpler than the corresponding rule in the Butcher group. From a more mathematical point of view, integrators, like Runge-Kutta schemes, that are affine equivariant are represented by elements of the Butcher group, integrators that are equivariant with respect to arbitrary changes of variables are represented by elements of the word group G.Comment: arXiv admin note: text overlap with arXiv:1502.0552

Algebraic structure of stochastic expansions and efficient simulation

We investigate the algebraic structure underlying the stochastic Taylor solution expansion for stochastic differential systems.Our motivation is to construct efficient integrators. These are approximations that generate strong numerical integration schemes that are more accurate than the corresponding stochastic Taylor approximation, independent of the governing vector fields and to all orders. The sinhlog integrator introduced by Malham & Wiese (2009) is one example. Herein we: show that the natural context to study stochastic integrators and their properties is the convolution shuffle algebra of endomorphisms; establish a new whole class of efficient integrators; and then prove that, within this class, the sinhlog integrator generates the optimal efficient stochastic integrator at all orders.Comment: 19 page

The geometry of characters of Hopf algebras

Character groups of Hopf algebras appear in a variety of mathematical contexts such as non-commutative geometry, renormalisation of quantum field theory, numerical analysis and the theory of regularity structures for stochastic partial differential equations. In these applications, several species of "series expansions" can then be described as characters from a Hopf algebra to a commutative algebra. Examples include ordinary Taylor series, B-series, Chen-Fliess series from control theory and rough paths. In this note we explain and review the constructions for Lie group and topological structures for character groups. The main novel result of the present article is a Lie group structure for characters of graded and not necessarily connected Hopf algebras (under the assumption that the degree zero subalgebra is finite-dimensional). Further, we establish regularity (in the sense of Milnor) for these Lie groups.Comment: 25 pages, notes for the Abelsymposium 2016: "Computation and Combinatorics in Dynamics, Stochastics and Control", v4: corrected typos and mistakes, main results remains valid, updated reference

Algebraic Structures and Stochastic Differential Equations driven by Levy processes

We construct an efficient integrator for stochastic differential systems driven by Levy processes. An efficient integrator is a strong approximation that is more accurate than the corresponding stochastic Taylor approximation, to all orders and independent of the governing vector fields. This holds provided the driving processes possess moments of all orders and the vector fields are sufficiently smooth. Moreover the efficient integrator in question is optimal within a broad class of perturbations for half-integer global root mean-square orders of convergence. We obtain these results using the quasi-shuffle algebra of multiple iterated integrals of independent Levy processes.Comment: 41 pages, 11 figure