Related papers: Lie Group integrators for mechanical systems
We derive variational integrators for stochastic Hamiltonian systems on Lie groups using a discrete version of the stochastic Hamiltonian phase space principle. The structure-preserving properties of the resulting scheme, such as…
Classical mechanical systems are modeled by a symplectic manifold $(M,\omega)$, and their symmetries, encoded in the action of a Lie group $G$ on $M$ by diffeomorphisms that preserves $\omega$. These actions, which are called "symplectic",…
In this article, a unified approach to obtain symplectic integrators on T*G from Lie group integrators on a Lie group G is presented. The approach is worked out in detail for symplectic integrators based on Runge--Kutta--Munthe-Kaas methods…
Many physically important mechanical systems may be described with a Lie group $G$ as configuration space. According to the well-known Noether's theorem, underlying symmetries of the Lie group may be used to considerably reduce the…
The roles of Lie groups in Feynman's path integrals in non-relativistic quantum mechanics are discussed. Dynamical as well as geometrical symmetries are found useful for path integral quantization. Two examples having the symmetry of a…
The aim of this paper is to present aspects of the use of Lie groups in mechanics. We start with the motion of the rigid body for which the main concepts are extracted. In a second part, we extend the theory for an arbitrary Lie group and…
This text presents some basic notions in symplectic geometry, Poisson geometry, Hamiltonian systems, Lie algebras and Lie groups actions on symplectic or Poisson manifolds, momentum maps and their use for the reduction of Hamiltonian…
In this paper we study, from a variational and geometrical point of view, second-order variational problems on Lie groupoids and the construction of variational integrators for optimal control problems. First, we develop variational…
Numerical methods that preserves geometric invariants of the system such as energy, momentum and symplectic form, are called geometric integrators. These include variational integrators as an important subclass of geometric integrators. The…
Classical mathematical techniques such as discrete integration, gradient descent optimization, and state estimation (exemplified by the Runge-Kutta method, Gauss-Newton minimization, and extended Kalman filter or EKF, respectively), rely on…
A Lie-Hamilton system is a nonautonomous system of first-order ordinary differential equations describing the integral curves of a $t$-dependent vector field taking values in a finite-dimensional Lie algebra, a Vessiot-Guldberg Lie algebra,…
As we said in our previous work [4], the main idea of our research is to introduce a class of Lie groupoids by means of co-adjoint representation of a Lie groupoid on its isotropy Lie algebroid, which we called coadjoint Lie groupoids. In…
This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to deduce geometric integrators for continuous nonholonomic…
New classes of Lie-Hamilton systems are obtained from the six-dimensional fundamental representation of the symplectic Lie algebra $\mathfrak{sp}(6,\mathbb{R})$. The ansatz is based on a recently proposed procedure for constructing…
A new procedure for the construction of higher-dimensional Lie-Hamilton systems is proposed. This method is based on techniques belonging to the representation theory of Lie algebras and their realization by vector fields. The notion of…
A novel symplectic integrator for Hamiltonian equations on $S_2^n \times T^{\ast} \RR^m$ is developed and studied. Partitioned Runge--Kutta methods for Hamiltonian systems on products of Hamiltionian manifolds are studied, specifically,…
A Lie-Hamilton system is a nonautonomous system of first-order ordinary differential equations describing the integral curves of a $t$-dependent vector field taking values in a finite-dimensional real Lie algebra of Hamiltonian vector…
In this article, we present the Lie transformation algorithm for autonomous Birkhoff systems. Here, we are referring to Hamiltonian systems that obey a symplectic structure of the general form. Two examples of normalization in the…
We suggest a numerical integration procedure for solving the equations of motion of certain classical spin systems which preserves the underlying symplectic structure of the phase space. Such symplectic integrators have been successfully…
Lie theory for the integration of Lie algebroids to Lie groupoids, on the one hand, and of Poisson manifolds to symplectic groupoids, on the other, has undergone tremendous developements in the last decade, thanks to the work of…