High-order integrators for Lagrangian systems on homogeneous spaces via nonholonomic mechanics

In this paper, high-order numerical integrators on homogeneous spaces will be presented as an application of nonholonomic partitioned Runge-Kutta Munthe-Kaas (RKMK) methods on Lie groups. A homogeneous space M is a manifold where a group G acts transitively. Such a space can be understood as a quotient M ≅ G/H, where H a closed Lie subgroup, is the isotropy group of each point of M. The Lie algebra of G may be decomposed into 𝔤 = 𝔪⊕𝔥, where 𝔥 is the subalgebra that generates H and 𝔪 is a subspace. Thus, variational problems on M can be treated as nonholonomically constrained problems on G, by requiring variations to remain on 𝔪. Nonholonomic partitioned RKMK integrators are derived as a modification of those obtained by a discrete variational principle on Lie groups, and can be interpreted as obeying a discrete Chetaev principle. These integrators tend to preserve several properties of their purely variational counterparts.

READ FULL TEXT

Please sign up or login with your details

Forgot password? Click here to reset