3 papers
Discrete variational calculus for double-bracket dissipation
Anthony Bloch, Sebastián J. Ferraro, David MartÃn de Diego +1
Discrete variational methods show excellent performance in numerical simulations of mechanical systems. In this paper, we adapt discrete variational integrators for the case of mec…
Discretization of Dirac systems and port-Hamiltonian systems: the role of the constraint algorithm
MarÃa Barbero-Liñán, Juan Manuel López Medel, David MartÃn de Diego
We study the discretization of (almost-)Dirac structures using the notion of retraction and discretization maps on manifolds. Additionally, we apply the proposed discretization tec…
Retraction maps in optimal control of nonholonomic systems
Alexandre Anahory Simoes, MarÃa Barbero Liñán, Anthony Bloch +2
In this paper, we compare the performance of different numerical schemes in approximating Pontryagin's Maximum Principle's necessary conditions for the optimal control of nonholono…