Geometric discrete analogues of tangent bundles and constrained Lagrangian systems

DOI10.1016/J.GEOMPHYS.2009.04.005zbMATH Open1166.70012arXiv0807.1511OpenAlexW2020110789MaRDI QIDQ1029487FDOQ1029487

Authors: Charles Cuell, G. W. Patrick 

Publication date: 10 July 2009

Published in: Journal of Geometry and Physics (Search for Journal in Brave)

Abstract: Discretizing variational principles, as opposed to discretizing differential equations, leads to discrete-time analogues of mechanics, and, systematically, to geometric numerical integrators. The phase space of such variational discretizations is often the set of configuration pairs, analogously corresponding to initial and terminal points of a tangent vectors. We develop alternative discrete analogues of tangent bundles, by extending tangent vectors to finite curve segments, one curve segment for each tangent vector. Towards flexible, high order numerical integrators, we use these discrete tangent bundles as phase spaces for discretizations of the variational principles of Lagrangian systems, up to the generality of nonholonomic mechanical systems with nonlinear constraints. We obtain a self-contained and transparent development, where regularity, equations of motion, symmetry and momentum, and structure preservation, all have natural expressions.

Full work available at URL: https://arxiv.org/abs/0807.1511

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zbMATH Keywords

nonholonomic systemsvariational integratorsphase space

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Variational methods for problems in mechanics (70G75) Lagrange's equations (70H03)

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Cited In (5)

• General techniques for constructing variational integrators
• Error analysis of variational integrators of unconstrained Lagrangian systems
• Retraction maps: a seed of geometric integrators
• The geometry of convergence in numerical analysis
• Error analysis of forced discrete mechanical systems

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