Symplectic integrators for index one constraints
Artikel i vetenskaplig tidskrift, 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

Författare

Robert McLachlan

Olivier Verdier

Matt Wilkins

SIAM Journal of Scientific Computing

1064-8275 (ISSN) 1095-7197 (eISSN)

Vol. 35 5 A2150-A2162

Styrkeområden

Informations- och kommunikationsteknik

Ämneskategorier

Beräkningsmatematik

Geometri

Fundament

Grundläggande vetenskaper

Infrastruktur

C3SE (Chalmers Centre for Computational Science and Engineering)

DOI

10.1137/120885085