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
Klas Modin
Olivier Verdier
Matt Wilkins
SIAM Journal of Scientific Computing
1064-8275 (ISSN) 1095-7197 (eISSN)
Vol. 35 5 A2150-A2162Styrkeområden
Informations- och kommunikationsteknik
Ämneskategorier
Beräkningsmatematik
Geometri
Fundament
Grundläggande vetenskaper
Infrastruktur
C3SE (Chalmers Centre for Computational Science and Engineering)
DOI
10.1137/120885085