Discrete Routh Reduction

This paper develops the theory of abelian Routh reduction for discrete mechanical systems and applies it to the variational integration of mechanical systems with abelian symmetry. The reduction of variational Runge-Kutta discretizations is considered, as well as the extent to which symmetry reduction and discretization commute. These reduced methods allow the direct simulation of dynamical features such as relative equilibria and relative periodic orbits that can be obscured or difficult to identify in the unreduced dynamics. The methods are demonstrated for the dynamics of an Earth orbiting satellite with a non-spherical $J_2$ correction, as well as the double spherical pendulum. The $J_2$ problem is interesting because in the unreduced picture, geometric phases inherent in the model and those due to numerical discretization can be hard to distinguish, but this issue does not appear in the reduced algorithm, where one can directly observe interesting dynamical structures in the reduced phase space (the cotangent bundle of shape space), in which the geometric phases have been removed. The main feature of the double spherical pendulum example is that it has a nontrivial magnetic term in its reduced symplectic form. Our method is still efficient as it can directly handle the essential non-canonical nature of the symplectic structure. In contrast, a traditional symplectic method for canonical systems could require repeated coordinate changes if one is evoking Darboux' theorem to transform the symplectic structure into canonical form, thereby incurring additional computational cost. Our method allows one to design reduced symplectic integrators in a natural way, despite the noncanonical nature of the symplectic structure.Comment: 24 pages, 7 figures, numerous minor improvements, references added, fixed typo

Discrete mechanics and variational integrators

This paper gives a review of integration algorithms for finite dimensional mechanical systems that are based on discrete variational principles. The variational technique gives a unified treatment of many symplectic schemes, including those of higher order, as well as a natural treatment of the discrete Noether theorem. The approach also allows us to include forces, dissipation and constraints in a natural way. Amongst the many specific schemes treated as examples, the Verlet, SHAKE, RATTLE, Newmark, and the symplectic partitioned Runge–Kutta schemes are presented

Controllability for Distributed Bilinear Systems

This paper studies controllability of systems of the form ${{dw} / {dt}} = \mathcal {A}w + p(t)\mathcal {B}w$ where $\mathcal{A}$ is the infinitesimal generator of a $C^0$ semigroup of bounded linear operators $e^{\mathcal{A}t}$ on a Banach space $X$, $\mathcal{B}:X \to X$ is a $C^1$ map, and $p \in L^1 ([0,T];\mathbb{R})$ is a control. The paper (i) gives conditions for elements of $X$ to be accessible from a given initial state $w_0$ and (ii) shows that controllability to a full neighborhood in $X$ of $w_0$ is impossible for $\dim X = \infty$. Examples of hyperbolic partial differential equations are provided

Controllability and stabilizability of distributed bilinear systems: Recent results and open problems

This paper describes recent results for controlling and stabilizing control systems of the form ú(t) = Au(t) + p(t) B(u(t)) where A is the infinitesimal generator C∞ semigroup on a Banach space X, B' map from X into X, and p(t) is a real valued control. Application to a vibrating beam problem is given for illusstration of the theory

Resonant Geometric Phases for Soliton Equations

The goal of the present paper is to introduce a multidimensional generalization of asymptotic reduction given in a paper by Alber and Marsden [1992], to use this to obtain a new class of solutions that we call resonant solitons, and to study the corresponding geometric phases. The term "resonant solitons" is used because those solutions correspond to a spectrum with multiple points, and they also represent a dividing solution between two different types of solitons. In this sense, these new solutions are degenerate and, as such, will be considered as singular points in the moduli space of solitons

Complex geometric asymptotics for nonlinear systems on complex varieties

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Control and stabilization of systems with homoclinic orbits

In this paper we consider the control of two physical systems, the near wall region of a turbulent boundary layer and the rigid body, using techniques from the theory of nonlinear dynamical systems. Both these systems have saddle points linked by heteroclinic orbits. In the fluid system we show how the structure of the phase space can be used to keep the system near an (unstable) saddle. For the rigid body system we discuss passage along the orbit as a possible control manouver, and show how the Energy-Casimir method can be used to analyze stabilization of the system about the saddles

Symplectic-energy-momentum preserving variational integrators

The purpose of this paper is to develop variational integrators for conservative mechanical systems that are symplectic and energy and momentum conserving. To do this, a space–time view of variational integrators is employed and time step adaptation is used to impose the constraint of conservation of energy. Criteria for the solvability of the time steps and some numerical examples are given

Cartan-Hannay-Berry Phases and Symmetry

We give a systematic treatment of the treatment of the classical Hannay-Berry phases for mechanical systems in terms of the holonomy of naturally constructed connections on bundles associated to the system. We make the costructions using symmetry and reduction and, for moving systems, we use the Cartan connection. These ideas are woven with the idea of Montgomery [1988] on the averaging of connections to produce the Hannay-Berry connection

Hamiltonian reductions of the one-dimensional Vlasov equation using phase-space moments

We consider Hamiltonian closures of the Vlasov equation using the phase-space moments of the distribution function. We provide some conditions on the closures imposed by the Jacobi identity. We completely solve some families of examples. As a result, we show that imposing that the resulting reduced system preserves the Hamiltonian character of the parent model shapes its phase space by creating a set of Casimir invariants as a direct consequence of the Jacobi identity