3 papers
math.NA2025
Simpson variational integrator for nonlinear systems: a tutorial on the Lagrange top
Juan Antonio Rojas-Quintero, François Dubois, Frédéric Jourdan
This contribution presents an integration method based on the Simpson quadrature. The integrator is designed for finite-dimensional nonlinear mechanical systems that derive from va…
math.NA2025
A variational symplectic scheme based on Lobatto's quadrature
François Dubois, Juan Antonio Rojas-Quintero
We present a variational integrator based on the Lobatto quadrature for the time integration of dynamical systems issued from the least action principle. This numerical method uses…
math.DS2022
Pontryagin calculus in Riemannian geometry
François Dubois, Danielle Fortuné, Juan Antonio Rojas Quintero +1
In this contribution, we study systems with a finite number of degrees of freedom as in robotics. A key idea is to consider the mass tensor associated to the kinetic energy as a me…