Discrete Routh Reduction

This paper develops the theory of abelian Routh reduction for discrete mechanical systems and applies it to the variational integration of mechanical systems with abelian symmetry. The reduction of variational Runge-Kutta discretizations is considered, as well as the extent to which symmetry reduction and discretization commute. These reduced methods allow the direct simulation of dynamical features such as relative equilibria and relative periodic orbits that can be obscured or difficult to identify in the unreduced dynamics. The methods are demonstrated for the dynamics of an Earth orbiting satellite with a non-spherical $J_2$ correction, as well as the double spherical pendulum. The $J_2$ problem is interesting because in the unreduced picture, geometric phases inherent in the model and those due to numerical discretization can be hard to distinguish, but this issue does not appear in the reduced algorithm, where one can directly observe interesting dynamical structures in the reduced phase space (the cotangent bundle of shape space), in which the geometric phases have been removed. The main feature of the double spherical pendulum example is that it has a nontrivial magnetic term in its reduced symplectic form. Our method is still efficient as it can directly handle the essential non-canonical nature of the symplectic structure. In contrast, a traditional symplectic method for canonical systems could require repeated coordinate changes if one is evoking Darboux' theorem to transform the symplectic structure into canonical form, thereby incurring additional computational cost. Our method allows one to design reduced symplectic integrators in a natural way, despite the noncanonical nature of the symplectic structure.Comment: 24 pages, 7 figures, numerous minor improvements, references added, fixed typo

Controllability and stabilizability of distributed bilinear systems: Recent results and open problems

This paper describes recent results for controlling and stabilizing control systems of the form ú(t) = Au(t) + p(t) B(u(t)) where A is the infinitesimal generator C∞ semigroup on a Banach space X, B' map from X into X, and p(t) is a real valued control. Application to a vibrating beam problem is given for illusstration of the theory

Symplectic-energy-momentum preserving variational integrators

The purpose of this paper is to develop variational integrators for conservative mechanical systems that are symplectic and energy and momentum conserving. To do this, a space–time view of variational integrators is employed and time step adaptation is used to impose the constraint of conservation of energy. Criteria for the solvability of the time steps and some numerical examples are given

Variational integrators, the Newmark scheme, and dissipative systems

Variational methods are a class of symplectic-momentum integrators for ODEs. Using these schemes, it is shown that the classical Newmark algorithm is structure preserving in a non-obvious way, thus explaining the observed numerical behavior. Modifications to variational methods to include forcing and dissipation are also proposed, extending the advantages of structure preserving integrators to non-conservative systems

Matching and stabilization by the method of controlled Lagrangians

We describe a class of mechanical systems for which the “method of controlled Lagrangians” provides a family of control laws that stabilize an unstable (relative) equilibrium. The controlled Lagrangian approach involves making modifications to the Lagrangian for the uncontrolled system such that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the closed-loop system. For the closed-loop equations to be consistent with available control inputs, the modifications to the Lagrangian must satisfy “matching” conditions. Our matching and stabilizability conditions are constructive; they provide the form of the controlled Lagrangian, the control law and, in some cases, conditions on the control gain(s) to ensure stability. The method is applied to stabilization of an inverted spherical pendulum on a cart and to stabilization of steady rotation of a rigid spacecraft about its unstable intermediate axis using an internal rotor

Model reduction, centering, and the Karhunen-Loeve expansion

We propose a new computationally efficient modeling method that captures a given translation symmetry in a system. To obtain a low order approximate system of ODEs, prior to performing a Karhunen Loeve expansion, we process the available data set using a “centering” procedure. This approach has been shown to be efficient in nonlinear scalar wave equations

The energy–momentum method for the stability of non-holonomic systems

In this paper we analyze the stability of relative equilibria of nonholonomic systems (that is, mechanical systems with nonintegrable constraints such as rolling constraints). In the absence of external dissipation, such systems conserve energy, but nonetheless can exhibit both neutrally stable and asymptotically stable, as well as linearly unstable relative equilibria. To carry out the stability analysis, we use a generalization of the energy-momentum method combined with the Lyapunov-Malkin theorem and the center manifold theorem. While this approach is consistent with the energy-momentum method for holonomic systems, it extends it in substantial ways. The theory is illustrated with several examples, including the the rolling disk, the roller racer, and the rattleback top

Frictional Collisions Off Sharp Objects

This work develops robust contact algorithms capable of dealing with multibody nonsmooth contact geometries for which neither normals nor gap functions can be defined. Such situations arise in the early stage of fragmentation when a number of angular fragments undergo complex collision sequences before eventually scattering. Such situations precludes the application of most contact algorithms proposed to date

Stabilization of Relative Equilibria II

In this paper, we obtain feedback laws to asymptotically stabilize relative equilibria of mechanical systems with symmetry. We use a notion of stability ‘modulo the group action’ developed by Patrick [1992]. We deal with both internal instability and with instability of the rigid motion. The methodology is that of potential shaping, but the system is allowed to be internally underactuated, i.e., have fewer internal actuators than the dimension of the shape space

Geometric analysis of optical frequency conversion and its control in quadratic nonlinear media

We analyze frequency conversion and its control among three light waves using a geometric approach that enables the dynamics of the waves to be visualized on a closed surface in three dimensions. It extends the analysis based on the undepleted-pump linearization and provides a simple way to understand the fully nonlinear dynamics. The Poincaré sphere has been used in the same way to visualize polarization dynamics. A geometric understanding of control strategies that enhance energy transfer among interacting waves is introduced, and the quasi-phase-matching strategy that uses microstructured quadratic materials is illustrated in this setting for both type I and II second-harmonic generation and for parametric three-wave interactions