Hamel's Formalism and Variational Integrators on a Sphere

被引：0

作者：

Zenkov, Dmitry V. ^{[1
]}

Leok, Melvin ^{[1
]}

Bloch, Anthony M. ^{[1
]}

机构：

[1] N Carolina State Univ, Dept Math, Raleigh, NC 27695 USA

来源：

2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2012年

基金：

美国国家科学基金会;

关键词：

DISCRETE EULER-POINCARE; LAGRANGIAN MECHANICS; EQUATIONS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper discusses Hamel's formalism and its applications to structure-preserving integration of mechanical systems. It utilizes redundant coordinates in order to eliminate multiple charts on the configuration space as well as nonphysical artificial singularities induced by local coordinates while keeping the minimal possible degree of redundancy and avoiding integration of differential-algebraic equations.

引用

页码：7504 / 7510

页数：7

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