The Kirchhoff plate equation on surfaces: the surface Hellan–Herrmann–Johnson method

We present a mixed finite element method for approximating a fourth-order elliptic partial differential equation (PDE), the Kirchhoff plate equation, on a surface embedded in ${\mathbb {R}}^{3}$, with or without boundary. Error estimates are given in mesh-dependent norms that account for the surface approximation and the approximation of the surface PDE. The method is built on the classic Hellan–Herrmann–Johnson method (for flat domains), and convergence is established for $C^{k+1}$ surfaces, with degree $k$ (Lagrangian, parametrically curved) approximation of the surface, for any $k \geqslant 1$. Mixed boundary conditions are allowed, including clamped, simply-supported and free conditions; if free conditions are present then the surface must be at least $C^{2,1}$. The framework uses tools from differential geometry and is directly related to the seminal work of Dziuk, G. (1988) Finite elements for the Beltrami operator on arbitrary surfaces. Partial Differential Equations and Calculus of Variations, vol. 1357 (S. Hildebrandt & R. Leis eds). Berlin, Heidelberg: Springer, pp. 142–155. for approximating the Laplace–Beltrami equation. The analysis here is the first to handle the full surface Hessian operator directly. Numerical examples are given on nontrivial surfaces that demonstrate our convergence estimates. In addition, we show how the surface biharmonic equation can be solved with this method.