Higher-order discrete variational problems with constraints

DOI10.1063/1.4820817MaRDI QIDQ5409688zbMATH OpenOpenAlexFDO

Authors Leonardo Colombo, David Martín de Diego, M. Zuccalli

Publication date 14 April 2014

Published in Journal of Mathematical Physics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1306.0298

Mathematics Subject Classification ID

Discrete version of topics in analysis (39A12) Lagrange's equations (70H03) Constrained dynamics, Dirac's theory of constraints (70H45)

Abstract: An interesting family of geometric integrators for Lagrangian systems can be defined using discretizations of the Hamilton's principle of critical action. This family of geometric integrators is called variational integrators. In this paper, we derive new variational integrators for higher-order lagrangian mechanical system subjected to higher-order constraints. From the discretization of the variational principles, we show that our methods are automatically symplectic and, in consequence, with a very good energy behavior. Additionally, the symmetries of the discrete Lagrangian imply that momenta is conserved by the integrator. Moreover, we extend our construction to variational integrators where the lagrangian is explicitly time-dependent. Finally, some motivating applications of higher-order problems are considered; in particular, optimal control problems for explicitly time-dependent underactuated systems and an interpolation problem on Riemannian manifolds.

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