General techniques for constructing variational integrators

DOI10.1007/S11464-012-0190-9MaRDI QIDQ693191zbMATH OpenOpenAlexFDO

Authors Melvin Leok, Tatiana Shingel

Publication date 7 December 2012

Published in Frontiers of Mathematics in China (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1102.2685

zbMATH Keywords

geometric mechanicsgeometric numerical integrationLagrangian mechanicssymplectic integratorvariational integrator

Mathematics Subject Classification ID

Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Hamilton-Jacobi equations in mechanics (70H20)

Abstract: The numerical analysis of variational integrators relies on variational error analysis, which relates the order of accuracy of a variational integrator with the order of approximation of the exact discrete Lagrangian by a computable discrete Lagrangian. The exact discrete Lagrangian can either be characterized variationally, or in terms of Jacobi's solution of the Hamilton-Jacobi equation. These two characterizations lead to the Galerkin and shooting-based constructions for discrete Lagrangians, which depend on a choice of a numerical quadrature formula, together with either a finite-dimensional function space or a one-step method. We prove that the properties of the quadrature formula, finite-dimensional function space, and underlying one-step method determine the order of accuracy and momentum-conservation properties of the associated variational integrators. We also illustrate these systematic methods for constructing variational integrators with numerical examples.

Review text

In this survey paper two techniques for constructing discrete variational integrators suited to dynamical systems that can be described by a Lagrangian function are studied. In the first technique, that leads to a Galerkin approach, the action associated to the Lagrangian function \( L( q(t), \dot{q}(t))\) in the time step \([0,h]\) is approximated by a numerical quadrature \( L_S (g ) := h \sum_{i=1}^s b_i L (g(c_i h), \dot{g}(c_i h))\) with \(s\) nodes \(c_i\) in \([0,1]\) and weights \(b_i\) and then the extremization is carried out in a suitable space of interpolatory functions. A complete theoretical study of this technique that includes the order and preservation properties is presented and to illustrate it a discretization of the Lagrangian of a free rigid body is given. The second technique relies on the discretization of the exact discrete Lagrangian in terms of Jacobi's solution of the Hamilton-Jacobi equation. Now the discretization requires not only a numerical quadrature but also a one-step numerical integrator for differential equations in a similar way to shooting methods for boundary-value problems. A study of some properties of the integrator that are inherited by the variational integrator is given as well some implementation issues. Finally, the technique is illustrated with numerical experiments of Kepler's and pendulum problems.

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Cited in

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