3 papers
math.NA2024
Simpson's quadrature for a nonlinear variational symplectic scheme
François Dubois, Juan Antonio Rojas-Quintero
We propose a variational symplectic numerical method for the time integration of dynamical systems issued from the least action principle. We assume a quadratic internal interpolat…
math.NA2024
A variational symplectic scheme based on Simpson's quadrature
François Dubois, Juan Antonio Rojas-Quintero
We propose a variational symplectic numerical method for the time integration of dynamical systems issued from the least action principle. We assume a quadratic internal interpolat…
math.OC2023
Riemannian formulation of Pontrygin's principle for robotic manipulators
François Dubois, Hedy César Ramírez-De-{Á}vila, Juan Antonio Rojas-Quintero
In this work, we consider a mechanical system whose mass tensor implements a scalar product in a Riemannian manifold. This system is controlled with the help of forces and torques.…