Related papers: Lie group variational integrators for rigid body p…
This paper presents the continuous and discrete variational formulations of simple thermodynamical systems whose configuration space is a (finite dimensional) Lie group. We follow the variational approach to nonequilibrium thermodynamics…
In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an initial condition to a pre-specified terminal condition.…
This paper showed that Poisson brackets in quaternion variables can be obtained directly from canonical Poisson brackets on cotangent bundle of $SE(3)$ (or $SO(3)$) endowed by canonical symplectic geometry. Quaternion parameters in our case…
We develop an explicit, second-order, variational time integrator for full body dynamics that preserves the momenta of the continuous dynamics, such as linear and angular momenta, and exhibits near-conservation of total energy over…
Derivatives of equations of motion(EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and…
The purpose of this paper is to describe geometrically discrete Lagrangian and Hamiltonian Mechanics on Lie groupoids. From a variational principle we derive the discrete Euler-Lagrange equations and we introduce a symplectic 2-section,…
We investigate the application of efficient recursive numerical integration strategies to models in lattice gauge theory from quantum field theory. Given the coupling structure of the physics problems and the group structure within lattice…
For an arbitrary unimodular Lie group $G$, we construct strongly continuous unitary representations in the Bergman space of a naturally constructed strongly pseudoconvex neighborhood of $G$ in the complexification of its underlying…
We discuss some basic properties of Lie group representations in rigged Hilbert spaces. In particular, we show that a differentiable representation in a rigged Hilbert space may be obtained as the projective limit of a family of continuous…
The goal of this paper is to develop energy-preserving variational integrators for time-dependent mechanical systems with forcing. We first present the Lagrange-d'Alembert principle in the extended Lagrangian mechanics framework and derive…
The purpose of this effort is to investigate if the use of quaternion mathematics can be used to better model and simulate the electromagnetic fields that occur from moving electromagnetic charges. One observed deficiency with the commonly…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-group formulation centered on the extended Special Euclidean group SE_2(3). The focus is on developing a clear and…
In this book, I explored differential equations for operation in Lie group and for representations of group Lie in a vector space.
In this paper, high-order numerical integrators on homogeneous spaces will be presented as an application of nonholonomic partitioned Runge-Kutta Munthe-Kaas (RKMK) methods on Lie groups. A homogeneous space $M$ is a manifold where a group…
This paper studies the reduction by symmetry of variational problems on Lie groups and Riemannian homogeneous spaces. We derive the reduced equations of motion in the case of Lie groups endowed with a left-invariant metric, and on Lie…
The relevance of the contracted SU(4) group as a symmetry group of the pion nucleon scattering amplitudes in the large $N_c$ limit of QCD raises the problem on the construction of effective Lagrangians for SU(4) supermultiplets. In the…
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…
The body and spatial representations of rigid body motion correspond, respectively, to the convective and spatial representations of continuum dynamics. With a view to developing a unified computational approach for both types of problems,…
In this paper, we propose a geometric integrator for nonholonomic mechanical systems. It can be applied to discrete Lagrangian systems specified through a discrete Lagrangian defined on QxQ, where Q is the configuration manifold, and a…