509 research outputs found
Polynomial mechanics and optimal control
We describe a new algorithm for trajectory optimization of mechanical
systems. Our method combines pseudo-spectral methods for function approximation
with variational discretization schemes that exactly preserve conserved
mechanical quantities such as momentum. We thus obtain a global discretization
of the Lagrange-d'Alembert variational principle using pseudo-spectral methods.
Our proposed scheme inherits the numerical convergence characteristics of
spectral methods, yet preserves momentum-conservation and symplecticity after
discretization. We compare this algorithm against two other established methods
for two examples of underactuated mechanical systems; minimum-effort swing-up
of a two-link and a three-link acrobot.Comment: Final version to EC
C1-continuous space-time discretization based on Hamilton's law of varying action
We develop a class of C1-continuous time integration methods that are
applicable to conservative problems in elastodynamics. These methods are based
on Hamilton's law of varying action. From the action of the continuous system
we derive a spatially and temporally weak form of the governing equilibrium
equations. This expression is first discretized in space, considering standard
finite elements. The resulting system is then discretized in time,
approximating the displacement by piecewise cubic Hermite shape functions.
Within the time domain we thus achieve C1-continuity for the displacement field
and C0-continuity for the velocity field. From the discrete virtual action we
finally construct a class of one-step schemes. These methods are examined both
analytically and numerically. Here, we study both linear and nonlinear systems
as well as inherently continuous and discrete structures. In the numerical
examples we focus on one-dimensional applications. The provided theory,
however, is general and valid also for problems in 2D or 3D. We show that the
most favorable candidate -- denoted as p2-scheme -- converges with order four.
Thus, especially if high accuracy of the numerical solution is required, this
scheme can be more efficient than methods of lower order. It further exhibits,
for linear simple problems, properties similar to variational integrators, such
as symplecticity. While it remains to be investigated whether symplecticity
holds for arbitrary systems, all our numerical results show an excellent
long-term energy behavior.Comment: slightly condensed the manuscript, added references, numerical
results unchange
High order variational integrators in the optimal control of mechanical systems
In recent years, much effort in designing numerical methods for the
simulation and optimization of mechanical systems has been put into schemes
which are structure preserving. One particular class are variational
integrators which are momentum preserving and symplectic. In this article, we
develop two high order variational integrators which distinguish themselves in
the dimension of the underling space of approximation and we investigate their
application to finite-dimensional optimal control problems posed with
mechanical systems. The convergence of state and control variables of the
approximated problem is shown. Furthermore, by analyzing the adjoint systems of
the optimal control problem and its discretized counterpart, we prove that, for
these particular integrators, dualization and discretization commute.Comment: 25 pages, 9 figures, 1 table, submitted to DCDS-
Space-time FLAVORS: finite difference, multisymlectic, and pseudospectral integrators for multiscale PDEs
We present a new class of integrators for stiff PDEs. These integrators are
generalizations of FLow AVeraging integratORS (FLAVORS) for stiff ODEs and SDEs
introduced in [Tao, Owhadi and Marsden 2010] with the following properties: (i)
Multiscale: they are based on flow averaging and have a computational cost
determined by mesoscopic steps in space and time instead of microscopic steps
in space and time; (ii) Versatile: the method is based on averaging the flows
of the given PDEs (which may have hidden slow and fast processes). This
bypasses the need for identifying explicitly (or numerically) the slow
variables or reduced effective PDEs; (iii) Nonintrusive: A pre-existing
numerical scheme resolving the microscopic time scale can be used as a black
box and easily turned into one of the integrators in this paper by turning the
large coefficients on over a microscopic timescale and off during a mesoscopic
timescale; (iv) Convergent over two scales: strongly over slow processes and in
the sense of measures over fast ones; (v) Structure-preserving: for stiff
Hamiltonian PDEs (possibly on manifolds), they can be made to be
multi-symplectic, symmetry-preserving (symmetries are group actions that leave
the system invariant) in all variables and variational
Error analysis of trigonometric integrators for semilinear wave equations
An error analysis of trigonometric integrators (or exponential integrators)
applied to spatial semi-discretizations of semilinear wave equations with
periodic boundary conditions in one space dimension is given. In particular,
optimal second-order convergence is shown requiring only that the exact
solution is of finite energy. The analysis is uniform in the spatial
discretization parameter. It covers the impulse method which coincides with the
method of Deuflhard and the mollified impulse method of Garc\'ia-Archilla,
Sanz-Serna & Skeel as well as the trigonometric methods proposed by Hairer &
Lubich and by Grimm & Hochbruck. The analysis can also be used to explain the
convergence behaviour of the St\"ormer-Verlet/leapfrog discretization in time.Comment: 25 page
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