A variational integrator of arbitrarily high-order on the special orthogonal group \begin{document}$ SO(n) $$\end{document} is constructed using the polar decomposition and the constrained Galerkin method. It has the advantage of avoiding the second order derivative of the exponential map that arises in traditional Lie group variational methods. In addition, a reduced Lie–Poisson integrator is constructed and the resulting algorithms can naturally be implemented by fixed-point iteration. The proposed methods are validated by numerical simulations on \begin{document}$$ SO(3) $$\end{document}$ which demonstrate that they are comparable to variational Runge–Kutta–Munthe-Kaas methods in terms of computational efficiency. However, the methods we have proposed preserve the Lie group structure much more accurately and and exhibit better near energy preservation.
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Clebsch canonization of Lie–Poisson systems
We propose a systematic procedure called the Clebsch canonization for obtaining a canonical Hamiltonian system that is related to a given Lie–Poisson equation via a momentum map. We describe both coordinate and geometric versions of the procedure, the latter apparently for the first time. We also find another momentum map so that the pair of momentum maps constitute a dual pair under a certain condition. The dual pair gives a concrete realization of what is commonly referred to as collectivization of Lie–Poisson systems. It also implies that solving the canonized system by symplectic Runge–Kutta methods yields so-called collective Lie–Poisson integrators that preserve the coadjoint orbits and hence the Casimirs exactly. We give a couple of examples, including the Kida vortex and the heavy top on a movable base with controls, which are Lie–Poisson systems on \begin{document}$$ \mathfrak{so}(2,1)^{*} $$\end{document} and \begin{document}$$ (\mathfrak{se}(3) \ltimes \mathbb{R}^{3})^{*} $$\end{document}, respectively.
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- PAR ID:
- 10341348
- Date Published:
- Journal Name:
- Journal of Geometric Mechanics
- Volume:
- 0
- Issue:
- 0
- ISSN:
- 1941-4889
- Page Range / eLocation ID:
- 0
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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