Structure Preservation for Constrained Dynamics with Super Partitioned Additive Runge--Kutta Methods

Abstract

A broad class of partitioned differential equations with possible algebraic constraints is considered, including Hamiltonian and mechanical systems with holonomic constraints. For mechanical systems a formulation eliminating the Coriolis forces and closely related to the Euler--Lagrange equations is presented. A new class of integrators is defined: the super partitioned additive Runge--Kutta (SPARK) methods. This class is based on the partitioning of the system into different variables and on the splitting of the differential equations into different terms. A linear stability and convergence analysis of these methods is given. SPARK methods allowing the direct preservation of certain properties are characterized. Different structures and invariants are considered: the manifold of constraints, symplecticness, reversibility, contractivity, dilatation, energy, momentum, and quadratic invariants. With respect to linear stability and structure-preservation, the class of s-stage Lobatto IIIA-B-C-C* SPARK methods is of special interest. Controllable numerical damping can be introduced by the use of additional parameters. Some issues related to the implementation of a reversible variable stepsize strategy are discussed.