Related papers: New developments on the Geometric Nonholonomic Int…
This paper develops different discretization schemes for nonholonomic mechanical systems through a discrete geometric approach. The proposed methods are designed to account for the special geometric structure of the nonholonomic motion. Two…
In the last two decades, significant effort has been put in understanding and designing so-called structure-preserving numerical methods for the simulation of mechanical systems. Geometric integrators attempt to preserve the geometry…
A geometric derivation of nonholonomic integrators is developed. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems. The theoretical methodology and the integrators…
The note focuses on the differential geometric approach to the study of nonlinear systems that are affine in control. We first develop normal forms for nonlinear system affine in control. Based on these normal forms, we then address the…
We propose new concept of energy reservoir and effectively conserved quantity, what enables us to treat dissipative systems along the lines of the framework of Geometric Numerical Integration. Using this opportunity, we try to confirm…
We present a new time discretization scheme adapted to the structure of GENERIC systems. The scheme is variational in nature and is based on a conditional incremental minimization. The GENERIC structure of the scheme provides stability and…
We consider nonholonomic Chaplygin systems and associate to them a $(1,2)$ tensor field on the shape space, that we term the gyroscopic tensor, and that measures the interplay between the non-integrability of the constraint distribution and…
Geometric integration theory can be employed when numerically solving ODEs or PDEs with constraints. In this paper, we present several one-step algorithms of various orders for ODEs on a collection of spheres. To demonstrate the versatility…
We introduce energy-preserving integrators for nonholonomic mechanical systems. We will see that the nonholonomic dynamics is completely determined by a triple $({\mathcal D}^*, \Pi, \mathcal{H})$, where ${\mathcal D}^*$ is the dual of the…
We consider the geometric numerical integration of Hamiltonian systems subject to both equality and "hard" inequality constraints. As in the standard geometric integration setting, we target long-term structure preservation. We…
We present a general framework for constructing structure-preserving numerical integrators for nonholonomically constrained mechanical systems evolving on Lie groups using retraction maps. Retraction maps generalize the exponential map and…
Discontinuous Galerkin (DG) discretizations with exact representation of the geometry and local polynomial degree adaptivity are revisited. Hybridization techniques are employed to reduce the computational cost of DG approximations and…
A scheme for the solution of fluid-structure interaction (FSI) problems with weakly compressible flows is proposed in this work. A novel hybridizable discontinuous Galerkin (HDG) method is derived for the discretization of the fluid…
We perform numerical analysis of a nonlinear gradient flow, which can be regarded as a parabolic minimal surface problem or a regularised total variation flow, using the gradient discretisation method (GDM). GDM is a unified convergence…
A geometric derivation of numerical integrators for nonholonomic systems and optimal control problems is obtained. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems and…
The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…
We adapt the Gradient Discretisation Method (GDM), originally designed for elliptic and parabolic partial differential equations, to the case of a linear scalar hyperbolic equations. This enables the simultaneous design and convergence…
The Galerkin difference (GD) basis is a set of continuous, piecewise polynomials defined using a finite difference like grid of degrees of freedom. The one dimensional GD basis functions are naturally extended to multiple dimensions using…
In this paper, we propose a geometric integrator for nonholonomic mechanical systems. It can be applied to discrete Lagrangian systems specified through a discrete Lagrangian defined on QxQ, where Q is the configuration manifold, and a…
Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete variational principle, and are part of the broader field of…