A Computational Approach for Variational Integration of Attitude Dynamics on SO(3)
Numerical Analysis
2022-01-04 v1 Numerical Analysis
Differential Geometry
Abstract
In this article, a brief description of Discrete Mechanics and Variational Integrators which preserve the symplectic structure of the flow will be provided and a Newton-Raphson algorithm that can be used to solve implicit equations on the SO(3) manifold will be developed. These techniques will be used to simulate the rotational dynamics of a rigid body evolving on the Lie Group SO(3).
Cite
@article{arxiv.2201.00713,
title = {A Computational Approach for Variational Integration of Attitude Dynamics on SO(3)},
author = {Nikhil Potu Surya Prakash},
journal= {arXiv preprint arXiv:2201.00713},
year = {2022}
}