Unconditional Optimal Error Estimates and Energy Stability for a Linearly Implicit Mass-Lumped Projection Finite Element Method for the Harmonic Map Flow

Abstract

We propose and analyze a linearly implicit mass-lumped finite element method for the heat flow of harmonic maps into the unit sphere. The method consists of a linear predictor followed by a nodal projection and therefore preserves the unit-length constraint exactly at all finite element nodes. The predictor is derived from a cross-product reformulation of the equation and is shown to be equivalent to a mass-lumped discretization of the original formulation with a correction term enforcing nodal orthogonality, as well as to a tangent plane scheme. A key ingredient is the consistent use of the discrete inner product in both the mass and stiffness terms. This yields a nodal orthogonality relation implying that the auxiliary solution lies on or outside the unit sphere at every node. Consequently, the projection is well defined and the projected error satisfies a contraction property in the discrete \(L^2\)-norm. On Cartesian rectangular and cuboidal tensor-product meshes, the nodal projection is also nonexpansive in a discrete Dirichlet energy, which gives an unconditional discrete energy dissipation law. For sufficiently smooth solutions, we prove optimal error estimates without any coupling condition between the time step and the mesh size: the method converges with order \(O(Δt+h^2)\) in \(\ell^\infty(0,T;L^2)\) and order \(O(Δt+h)\) in \(\ell^2(0,T;H^1)\). The proof combines the projected-error contraction, quadrature consistency estimates, edge-based cancellation identities, and a bootstrap argument for controlling nonlinear terms. Numerical experiments confirm the predicted convergence rates and the discrete energy decay.