Symplectic Runge-Kutta schemes for adjoint equations, automatic differentiation, optimal control, and more
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Publication:2808265
Lagrange multipliersHamiltonian systemsoptimal controlLagrangian mechanicssymplectic integrationvariational equationsadjoint equationsRunge-Kutta methodspartitioned Runge-Kutta methodsautomatic differentiationconstrained controlsdifferential-algebraic problemssymplectic Runge-Kuttacomputation of sensitivitiesreflected and transposed Runge-Kutta schemes
Numerical optimization and variational techniques (65K10) Numerical methods for differential-algebraic equations (65L80) Existence theories for optimal control problems involving ordinary differential equations (49J15) Multistep, Runge-Kutta and extrapolation methods for ordinary differential equations (65L06) Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15)
Abstract: It is well known that symplectic Runge-Kutta and Partitioned Runge-Kutta methods exactly preserve {em quadratic} first integrals (invariants of motion) of the system being integrated. While this property is often seen as a mere curiosity (it does not hold for arbitrary first integrals), it plays an important role in the computation of numerical sensitivities, optimal control theory and Lagrangian mechanics, as described in this paper, which, together with some new material, presents in a unified way a number of results now scattered or implicit in the literature. Some widely used procedures, such as the direct method in optimal control theory and the computation of sensitivities via reverse accumulation imply "hidden" integrations with symplectic Partitioned Runge-Kutta schemes.
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