Variational and geometric structures of discrete Dirac mechanics

DOI10.1007/S10208-011-9096-2zbMATH Open1231.70016arXiv0810.0740OpenAlexW3102717074MaRDI QIDQ660673FDOQ660673

Tomoki Ohsawa, Melvin Leok

Publication date: 4 February 2012

Published in: Foundations of Computational Mathematics (Search for Journal in Brave)

Abstract: In this paper, we develop the theoretical foundations of discrete Dirac mechanics, that is, discrete mechanics of degenerate Lagrangian/Hamiltonian systems with constraints. We first construct discrete analogues of Tulczyjew's triple and induced Dirac structures by considering the geometry of symplectic maps and their associated generating functions. We demonstrate that this framework provides a means of deriving discrete Lagrange-Dirac and nonholonomic Hamiltonian systems. In particular, this yields nonholonomic Lagrangian and Hamiltonian integrators. We also introduce discrete Lagrange-d'Alembert-Pontryagin and Hamilton-d'Alembert variational principles, which provide an alternative derivation of the same set of integration algorithms. The paper provides a unified treatment of discrete Lagrangian and Hamiltonian mechanics in the more general setting of discrete Dirac mechanics, as well as a generalization of symplectic and Poisson integrators to the broader category of Dirac integrators.

Full work available at URL: https://arxiv.org/abs/0810.0740

zbMATH Keywords

geometric integrationDirac structuresLagrange-Dirac systems

Mathematics Subject Classification ID

Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonholonomic dynamical systems (37J60) Constrained dynamics, Dirac's theory of constraints (70H45)

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