Early-Terminable Energy-Safe Iterative Coupling for Parallel Simulation of Port-Hamiltonian Systems
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866917349922177024 |
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| author | Wei, Qi Tao, Jianfeng Nie, Hongyu Tan, Wangtao |
| author_facet | Wei, Qi Tao, Jianfeng Nie, Hongyu Tan, Wangtao |
| contents | Parallel simulation and control of large-scale robotic systems often rely on partitioned time stepping, yet finite-iteration coupling can inject spurious energy by violating power consistency--even when each subsystem is passive. This letter proposes a novel energy-safe, early-terminable iterative coupling for port-Hamiltonian subsystems by embedding a Douglas--Rachford (DR) splitting scheme in scattering (wave) coordinates. The lossless interconnection is enforced as an orthogonal constraint in the wave domain, while each subsystem contributes a discrete-time scattering port map induced by its one-step integrator. Under a discrete passivity condition on the subsystem time steps and a mild impedance-tuning condition, we prove an augmented-storage inequality certifying discrete passivity of the coupled macro-step for any finite inner-iteration budget, with the remaining mismatch captured by an explicit residual. As the inner budget increases, the partitioned update converges to the monolithic discrete-time update induced by the same integrators, yielding a principled, adaptive accuracy--compute trade-off, supporting energy-consistent real-time parallel simulation under varying computational budgets. Experiments on a coupled-oscillator benchmark validate the passivity certificates at numerical roundoff (on the order of 10e-14 in double precision) and show that the reported RMS state error decays monotonically with increasing inner-iteration budgets, consistent with the hard-coupling limit. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_16424 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Early-Terminable Energy-Safe Iterative Coupling for Parallel Simulation of Port-Hamiltonian Systems Wei, Qi Tao, Jianfeng Nie, Hongyu Tan, Wangtao Robotics Numerical Analysis Systems and Control Parallel simulation and control of large-scale robotic systems often rely on partitioned time stepping, yet finite-iteration coupling can inject spurious energy by violating power consistency--even when each subsystem is passive. This letter proposes a novel energy-safe, early-terminable iterative coupling for port-Hamiltonian subsystems by embedding a Douglas--Rachford (DR) splitting scheme in scattering (wave) coordinates. The lossless interconnection is enforced as an orthogonal constraint in the wave domain, while each subsystem contributes a discrete-time scattering port map induced by its one-step integrator. Under a discrete passivity condition on the subsystem time steps and a mild impedance-tuning condition, we prove an augmented-storage inequality certifying discrete passivity of the coupled macro-step for any finite inner-iteration budget, with the remaining mismatch captured by an explicit residual. As the inner budget increases, the partitioned update converges to the monolithic discrete-time update induced by the same integrators, yielding a principled, adaptive accuracy--compute trade-off, supporting energy-consistent real-time parallel simulation under varying computational budgets. Experiments on a coupled-oscillator benchmark validate the passivity certificates at numerical roundoff (on the order of 10e-14 in double precision) and show that the reported RMS state error decays monotonically with increasing inner-iteration budgets, consistent with the hard-coupling limit. |
| title | Early-Terminable Energy-Safe Iterative Coupling for Parallel Simulation of Port-Hamiltonian Systems |
| topic | Robotics Numerical Analysis Systems and Control |
| url | https://arxiv.org/abs/2603.16424 |