Angular momentum conserving integration scheme for multibody system dynamics in lie-group setting

Terze, Zdravko and Mueller, Andreas and Zlatar, Dario (2016) Angular momentum conserving integration scheme for multibody system dynamics in lie-group setting. = Angular momentum conserving integration scheme for multibody system dynamics in lie-group setting. Annual 2015 of the Croatian Academy of Engineering, 2016. pp. 385-391. ISSN 1332-3482. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. . Točan broj autora: 3.

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Abstract

In many engineering applications, such as satellite dynamics or various case-studies of the specific locomotion patterns in mechatronics and biomechanics, motion integrals of the system need to be conserved during numerical integration in order to reflect global physical properties of the analyzed motion. Derivation of such integration schemes in Lie-group settings should be especially numerically efficient since Lie-group dynamical models operate directly on SO(3) rotational group, avoiding local rotation parameters, and allowing for design of structure-preserving algorithms that respect underlying manifolds of the system dynamics. In this paper, angular momentum conserving integration scheme for rigid body rotational dynamics, based on the rotational group coadjoint action, is presented and tested through the case-study of freely spinning rigid body.

Item Type: Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian): lie-groups ; numerical integration methods ; DAE systems ; Angular Momentum Conservation ; constraint violation stabilization
Subjects: NATURAL SCIENCES > Mathematics
Divisions: 1300 Department of Aeronautical Engineering > 1320 Chair of Aircraft Dynamics
Indexed in Web of Science: Yes
Indexed in Current Contents: No
Citations JCR: 0 (08.03.2018.)
Date Deposited: 08 Mar 2018 12:39
Last Modified: 08 Mar 2018 12:40
URI: http://repozitorij.fsb.hr/id/eprint/8506

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