Early-Terminable Energy-Safe Iterative Coupling for Parallel Simulation of Port-Hamiltonian Systems

• URL: http://arxiv.org/abs/2603.16424v1
• Date: Tue, 17 Mar 2026 11:59:30 GMT
• Title: Early-Terminable Energy-Safe Iterative Coupling for Parallel Simulation of Port-Hamiltonian Systems
• Abstract summary: This letter proposes a novel energy-safe, early-terminable iterative coupling for port-Hamiltonian subsystems.<n>We prove an augmented-storage inequality certifying discrete passivity of the coupled macro-step for any finite inner-iteration budget.<n>As the inner budget increases, the partitioned update converges to a monolithic discrete-time update.
• Score: 1.2091218906871861
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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.

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