Sebastián J. Ferraro

arXiv2026

Discrete variational calculus for double-bracket dissipation

Discrete variational methods show excellent performance in numerical simulations of mechanical systems. In this paper, we adapt discrete variational integrators for the case of mechanical systems with double-bracket dissipation. In particular, we will work with forced Euler-Poincaré and forced Lie-Poisson systems, and the case of interest for us will be when the coadjoint orbits remain invariant, but the energy is decreasing along the orbit. This particular kind of dissipative system appears in various physical systems such as satellites with dampers, geophysical fluids, plasma physics and stellar dynamics. The proposed geometric integrator preserves the coadjoint orbits exactly. We highlight the advantages of this feature by comparing it with other general-purpose methods (including higher-order ones) across different numerical simulations.

math.NA↗

arXiv2022

A parallel iterative method for variational integration

Discrete variational methods show excellent performance in numerical simulations of different mechanical systems. In this paper, we introduce an iterative procedure for the solution of discrete variational equations for boundary value problems. More concretely, we explore a parallelization strategy that leverages the capabilities of multicore CPUs and GPUs (graphics cards). We study this parallel method for higher-order Lagrangian systems, which appear in fully-actuated problems and beyond. The most important part of the paper is devoted to a precise study of different convergence conditions for these methods. We illustrate their excellent behavior in some interesting examples, namely Zermelo's navigation problem, a fuel-optimal navigation problem, interpolation problems or in a fuel optimization problem for a controlled 4-body problem in astrodynamics showing the potential of our method.

math.OC↗

arXiv2022

Nonholonomic Newmark method

Using the nonholonomic exponential map, we generalize the well-known family of Newmark methods for nonholonomic systems. We give numerical examples including a test problem where the structure of reversible integrability responsible for good energy behaviour as described in [16] is lost. We observe that the composition of two Newmark methods is able to produce good energy behaviour on this test problem.

math.NA↗

arXiv2021

Parallel iterative methods for variational integration applied to navigation problems

Discrete variational methods have shown an excellent performance in numerical simulations of different mechanical systems. In this paper, we introduce an iterative method for discrete variational methods appropriate for boundary value problems. More concretely, we explore a parallelization strategy that leverages the power of multicore CPUs and GPUs (graphics cards). We study this parallel method for first-order and second-order Lagrangians and we illustrate its excellent behavior in some interesting applications, namely Zermelo's navigation problem, a fuel-optimal navigation problem, and an interpolation problem.

math.NA↗

arXiv2012

An extension of the Dirac and Gotay-Nester theories of constraints for Dirac dynamical systems

This paper extends the Gotay-Nester and the Dirac theories of constrained systems in order to deal with Dirac dynamical systems in the integrable case. Integrable Dirac dynamical systems are viewed as constrained systems where the constraint submanifolds are foliated, the case considered in Gotay-Nester theory being the particular case where the foliation has only one leaf. A Constraint Algorithm for Dirac dynamical systems (CAD), which extends the Gotay-Nester algorithm, is developed. Evolution equations are written using a Dirac bracket adapted to the foliations and an abridged total energy which coincides with the total Hamiltonian in the particular case considered by Dirac. The interesting example of LC circuits is developed in detail. The paper emphasizes the point of view that Dirac and Gotay-Nester theories are dual and that using a combination of results from both theories may have advantages in dealing with a given example, rather than using systematically one or the other.

math-ph↗

arXiv2012

An extension of the Dirac and Gotay-Nester theories of constraints for Dirac dynamical systems

This paper extends the Gotay-Nester and the Dirac theories of constrained systems in order to deal with Dirac dynamical systems in the integrable case. Integrable Dirac dynamical systems are viewed as constrained systems where the constraint submanifolds are foliated, the case considered in Gotay-Nester theory being the particular case where the foliation has only one leaf. A Constraint Algorithm for Dirac dynamical systems (CAD), which extends the Gotay-Nester algorithm, is developed. Evolution equations are written using a Dirac bracket adapted to the foliations and an abridged total energy which coincides with the total Hamiltonian in the particular case considered by Dirac. The interesting example of LC circuits is developed in detail. The paper emphasizes the point of view that Dirac and Gotay-Nester theories are dual and that using a combination of results from both theories may have advantages in dealing with a given example, rather than using systematically one or the other.

math-ph↗