Discrete Routh reduction

DOI10.1088/0305-4470/39/19/S12MaRDI QIDQ5466911zbMATH OpenWikidataFDO

Authors Melvin Leok, J. E. Marsden, M. West, Sameer M. Jalnapurkar

Publication date 22 May 2006

Published in Journal of Physics A: Mathematical and General (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math/0508330

zbMATH Keywords

mechanical systems with Abelian symmetryperiodic orbitsreduction of variational Runge-Kutta discretizationsrelative equilibriasymmetry reductionsymplectic structurevariational integration

Mathematics Subject Classification ID

Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Dynamical systems in classical and celestial mechanics (37N05) Numerical methods for initial value problems involving ordinary differential equations (65L05) Celestial mechanics (70F15) Forced motions for nonlinear problems in mechanics (70K40) System structure simplification (93B11)

Abstract: 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.

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Cited in

(14)

• Lagrangian reduction of nonholonomic discrete mechanical systems by stages
• Routh reducibility and controllability of unstable mechanical systems
• Lie group variational integrators for the full body problem
• Lagrangian reduction of discrete mechanical systems by stages
• The effect of symmetry reduction on the numerical integration for a holonomic system
• A route to Routh -- the classical setting
• Reduction of Hamilton's variational principle
• Discrete Hamilton-Jacobi theory for systems with external forces
• Lie group spectral variational integrators
• Discrete dynamical systems over double cross-product Lie groupoids
• Discrete Dirac reduction of implicit Lagrangian systems with abelian symmetry groups
• Remarks on structures and preservation in forced discrete mechanical systems of Routh type
• Lie group variational integrators for the full body problem in orbital mechanics
• Discrete nonholonomic Lagrangian systems on Lie groupoids

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