High-order symplectic Lie group methods on SO(n) using the polar decomposition
geometric numerical integrationLie group integratorpolar decompositionrotation groupsymplectic integrationvariational integrator
Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Fixed-point iterations (47J26) Index theory and related fixed-point theorems on manifolds (58J20) General theory of numerical analysis in abstract spaces (65J05) Numerical solutions to equations with linear operators (65J10) Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Hamilton's principle (70H25)
The authors construct a variational integrator of arbitrarily high-order on the special orthogonal group \(\mathrm{SO}(n)\) using the polar decomposition and the constrained Galerkin method. \(\mathrm{SO}(n)\) is embedded naturally in the space \(\mathrm{GL}_{+}(n)=\{A\in \mathbb{R}^{n\times n} | \mathrm{det}(A) > 0\}\), an open subset of \(\mathbb{R}^{n\times n}\). It has the advantage of avoiding the second order derivative of the exponential map that arises in traditional Lie group variational methods. The Lie algebra of \(\mathrm{SO}(n)\) is the set Skew(\(n\)) \(= \{\Omega \in \mathbb{R}^{n\times n} | \Omega^{T} = -\Omega\}\), with the matrix commutator as the Lie bracket. The authors introduce the polar decomposition and the retraction on \(\mathrm{SO}(n)\). The polar decomposition of \(A\) is provided according to the following: Given \(A\in \mathrm{GL}(n)\), this decomposes uniquely as \(A\rightarrow UP\), \(U\in \mathrm{O}(n)\), \(P\in \mathrm{Sym}^{+}(n)\), where \(\mathrm{Sym}^{+}(n)\) is the set of \(n \times n\) symmetric positive-definite matrices. The authors also mention the Lagrangian variational integrators on the rotation group \(\mathrm{SO}(n)\) in details. For a system with rotational symmetry, the authors obtain a simpler integrator using Lie-Poisson reduction on the Hamiltonian side. Further, they construct a reduced Lie-Poisson integrator and the resulting algorithms can naturally be implemented by fixed-point iteration. The authors validate the proposed methods by numerical simulations on \(\mathrm{SO}(3)\) showing they are comparable to variational Runge-Kutta-Munthe-Kaas methods in terms of computational efficiency. They provide the following methods for the comparison tests: second-order Gauss-Legendre method, third-order Runge-Kutta method, fourth-order Gauss-Legendre method and sixth-order Gauss-Legendre method. However, these proposed methods preserve the Lie group structure much more accurately and exhibit better near energy preservation. At the end, the authors also give the long-term energy behaviors for their methods.
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