Geometric Pseudospectral Method on Lie Group with application to 3D Pendulum
General pseudospectral method is extended to Lie group by virtue of equlvariant map for solving rigid dynamics on Lie group.In particular,for the problem of structural characteristics of the dynamics system can not be conserved by using general pseudospectral method directly on Lie group,the differential eqution evolving on the Lie group is transformed to an equivalent differential equation evolving on a Lie algebra on which general pseudospectral method is used,so that the numerical flow of rigid body dynamics is ensured to stay on Lie group.Furthermore,structural conservativeness and numerical stabilities of this method are validated and analyzed by simulation on a 3D pendulum in comparison with using pseudospeetral method directly on Lie group.
geometric pseudopectral method Lie group Equivariant map 3D pendulum
Jie Li Honglei An Xueqiang Gu Hongtao Xue
College of Mechatronic Engineering and Automation National University of Deferse Technology Changsha, 410073, China
国际会议
太原
英文
1068-1073
2012-12-08（万方平台首次上网日期，不代表论文的发表时间）