In this paper, we deal with a system of integral algebraic equations of the Hessenberg type. Using a new index definition, the existence and uniqueness of a solution to this system are studied. The well-known piecewise continuous collocation methods are used to solve this system numerically, and the convergence properties of the perturbed piecewise continuous collocation methods are investigate...

In recent years, there has been a growing interest in analyzing and quantifying the effects of random inputs in the solution of ordinary/partial differential equations. To this end, the spectral stochastic finite element method (SSFEM) is the most popular method due to its fast convergence rate. Recently, the stochastic sparse grid collocation method has emerged as an attractive alternative to ...

Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend be dynamically accurate, they may also present large kinematic errors the case of constrained mechanical systems, i.e., those whose state coordinates subject holonomic or nonholonomic constraints, like loop-closure rolling-contact constraints. These constr...

In this paper, we construct numerical schemes for spectral collocation methods and spectral variational integrators which converge geometrically. We present a systematic comparison of how spectral collocation methods and Galerkin spectral variational integrators perform in terms of their ability to reproduce accurate trajectories in configuration and phase space, their ability to conserve momen...

Nonlinear entropy stability and a summation-by-parts framework are used to derive provably stable, polynomial-based spectral collocation methods of arbitrary order. The new methods are closely related to discontinuous Galerkin spectral collocation methods commonly known as DGFEM, but exhibit a more general entropy stability property. Although the new schemes are applicable to a broad class of l...