Numerical Integration of Higher-Order Lagrangians
Presenting author: Rodrigo Takuro Sato
In [1] the authors develop a discrete theory for higher order Lagrangians and proceed to apply this to obtain variational integrators for higher order problems such as the spline or a fully actuated optimal control problem. In my talk I will give an overview of
the main idea from that paper and show how to obtain Runge-Kutta methods for second order Lagrangian problems.
References
[1] Leonardo Colombo, Sebastián Ferraro, and David Martín de Diego. Geometric integrators for higher-order variational systems and their application to optimal control. Journal of Nonlinear Science, 26(6):1615–1650, 2016.