Discrete Euler-Poincaré and Lie-Poisson equations

DOI10.1088/0951-7715/12/6/314MaRDI QIDQ4719906zbMATH OpenOpenAlexFDO

Authors J. E. Marsden, Sergey Pekarsky, Steve Shkoller

Publication date 12 February 2002

Published in Nonlinearity (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math/9909099, https://authors.library.caltech.edu/848/

zbMATH Keywords

discrete Euler-Poincaré equationsdiscrete Lie-Poisson equations

Mathematics Subject Classification ID

Momentum maps; symplectic reduction (53D20) Free motion of a rigid body (70E15) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33)

Abstract: In this paper, discrete analogues of Euler-Poincar'{e} and Lie-Poisson reduction theory are developed for systems on finite dimensional Lie groups $G$ with Lagrangians $L:TGomathbbR$ that are $G$-invariant. These discrete equations provide ``reduced numerical algorithms which manifestly preserve the symplectic structure. The manifold $GimesG$ is used as an approximation of $TG$, and a discrete Langragian $mathbbL:GimesGomathbbR$ is construced in such a way that the $G$-invariance property is preserved. Reduction by $G$ results in new ``variational principle for the reduced Lagrangian $ell:GomathbbR$, and provides the discrete Euler-Poincar'{e} (DEP) equations. Reconstruction of these equations recovers the discrete Euler-Lagrange equations developed in cite{MPS,WM} which are naturally symplectic-momentum algorithms. Furthermore, the solution of the DEP algorithm immediately leads to a discrete Lie-Poisson (DLP) algorithm. It is shown that when $G=extSO(n)$, the DEP and DLP algorithms for a particular choice of the discrete Lagrangian $mathbbL$ are equivalent to the Moser-Veselov scheme for the generalized rigid body. %As an application, a reduced symplectic integrator for two dimensional %hydrodynamics is constructed using the SU$(n)$ approximation to the volume %preserving diffeomorphism group of ${mathbbT}^2$.

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Cited in

(53)

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• Discrete Routh reduction
• General techniques for constructing variational integrators
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• Discrete variational Lie group formulation of geometrically exact beam dynamics
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• Hamilton-Pontryagin integrators on Lie groups. I: Introduction and structure-preserving properties
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• Second-order variational problems on Lie groupoids and optimal control applications
• A historical review on nonholomic mechanics
• High order symmetric algorithms for nonlinear dynamical systems with non-holonomic constraints
• An overview and recent advances in vector and scalar formalisms: space/time discretizations in computational dynamics -- a unified approach
• Formulation and performance of variational integrators for rotating bodies
• Optimal control problems with symmetry breaking cost functions
• Discrete mechanics and optimal control: An analysis
• Geometric integrators and nonholonomic mechanics
• Discrete Dirac reduction of implicit Lagrangian systems with abelian symmetry groups
• Relative-kinematic formulation of geometrically exact beam dynamics based on Lie group variational integrators
• Geometry of discrete-time spin systems
• Lie group variational integrators for the full body problem in orbital mechanics
• Reduction theory and the Lagrange-Routh equations.
• Symmetry reduction of discrete Lagrangian mechanics on Lie groups
• Variational discretization of thermodynamical simple systems on Lie groups
• The symmetric representation of the rigid body equations and their discretization
• Discrete Lagrangian reduction, discrete Euler-Poincaré equations, and semidirect products
• The variational discretization of the constrained higher-order Lagrange-Poincaré equations
• A study of the long-term behavior of hybrid systems with symmetries via reduction and the Frobenius-Perron operator
• The local description of discrete mechanics
• ON SOME ASPECTS OF THE GEOMETRY OF DIFFERENTIAL EQUATIONS IN PHYSICS
• Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups
• Variational and geometric structures of discrete Dirac mechanics
• Continuous and discrete Clebsch variational principles
• A variational integrator for the discrete element method
• Lie-Poisson neural networks (LPNets): data-based computing of Hamiltonian systems with symmetries
• Discrete variational optimal control
• On some aspects of the discretization of the Suslov problem
• Lie-theoretical generalization and discretization of the Pinney equation
• A review of structure-preserving numerical methods for engineering applications
• Discrete dynamical systems over double cross-product Lie groupoids
• High-order symplectic Lie group methods on \(SO(n)\) using the polar decomposition

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