Almost Poisson Integration of Rigid Body Systems
| dc.contributor.author | Austin, Mark | en_US |
| dc.contributor.author | Krishnaprasad, Perinkulam S. | en_US |
| dc.contributor.author | Wang, L.S. | en_US |
| dc.contributor.department | ISR | en_US |
| dc.date.accessioned | 2007-05-23T09:47:58Z | |
| dc.date.available | 2007-05-23T09:47:58Z | |
| dc.date.issued | 1991 | en_US |
| dc.description.abstract | In this paper we discuss the numerical integration of Lie-Poisson Systems using the mid-point rule. Since such systems result from the reduction of hamiltonian systems with symmetry by Lie Group actions, we also present examples of reconstruction rules for the full dynamics. A primary motivation is to preserve in the integration process, various conserved quantities of the original dynamics. A main result of this paper is a third order error estimate for the Lie-Poisson structure where h is the integration step-size. We note that Lie-Poisson systems appear naturally in many areas of physical science and engineering, including theoretical mechanics of fluids and plasmas, satellite dynamics, and polarization dynamics. In the present paper we consider a series of progressively complicated examples related to rigid body systems. We also consider a dissipative example associated to a Lie-Poisson system. The behavior of the mid-point rule and an associated reconstruction rule is numerically explored. | en_US |
| dc.format.extent | 1439622 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1903/5093 | |
| dc.language.iso | en_US | en_US |
| dc.relation.ispartofseries | ISR; TR 1991-45 | en_US |
| dc.subject | rigid body dynamics | en_US |
| dc.subject | lie-poisson systems | en_US |
| dc.subject | distributed computing | en_US |
| dc.subject | Intelligent Servomechanisms | en_US |
| dc.title | Almost Poisson Integration of Rigid Body Systems | en_US |
| dc.type | Technical Report | en_US |
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