Symplectic integrators for index one constraints
Journal article, 2013
We show that symplectic Runge-Kutta methods provide effective symplectic integrators for Hamiltonian systems with index one constraints. These include the Hamiltonian description of variational problems subject to position and velocity constraints nondegenerate in the velocities, such as those arising in sub-Riemannian geometry and control theory.
variational nonholonomic equations
differential-algebraic equations
optimal control problems
index 1 systems
vakonomic equations
symplectic integrators
Author
Robert McLachlan
Klas Modin
Olivier Verdier
Matt Wilkins
SIAM Journal of Scientific Computing
1064-8275 (ISSN) 1095-7197 (eISSN)
Vol. 35 5 A2150-A2162Areas of Advance
Information and Communication Technology
Subject Categories
Computational Mathematics
Geometry
Roots
Basic sciences
Infrastructure
C3SE (Chalmers Centre for Computational Science and Engineering)
DOI
10.1137/120885085