## Equivariant constrained symplectic integration (1995)

Venue: | J. Nonlinear Sci |

Citations: | 23 - 3 self |

### BibTeX

@ARTICLE{Mclachlan95equivariantconstrained,

author = {Robert I. Mclachlan and Clint Scovel},

title = {Equivariant constrained symplectic integration},

journal = {J. Nonlinear Sci},

year = {1995},

volume = {5},

pages = {233--256}

}

### OpenURL

### Abstract

We use recent results on symplectic integration of Hamiltonian systems with constraints to construct symplectic integrators on cotangent bundles of manifolds by embedding the manifold in a linear space. We also prove that these methods are equivariant under cotangent lifts of a symmetry group acting linearly on the ambient space and consequently preserve the corresponding momentum. These results provide an elementary construction of symplectic integrators for Lie-Poisson systems and other Hamiltonian systems with symmetry. The methods are illustrated on the free rigid body, the heavy top, and the double spherical pendulum. 1.