Lagrangian mechanics and variational integrators on two-spheres

DOI10.1002/NME.2603zbMATH Open1176.70004arXiv0707.0022OpenAlexW2071462623MaRDI QIDQ3649846FDOQ3649846

Tae-Young Lee, Melvin Leok, N. Harris Mcclamroch

Publication date: 7 December 2009

Published in: International Journal for Numerical Methods in Engineering (Search for Journal in Brave)

Abstract: Euler-Lagrange equations and variational integrators are developed for Lagrangian mechanical systems evolving on a product of two-spheres. The geometric structure of a product of two-spheres is carefully considered in order to obtain global equations of motion. Both continuous equations of motion and variational integrators completely avoid the singularities and complexities introduced by local parameterizations or explicit constraints. We derive global expressions for the Euler-Lagrange equations on two-spheres which are more compact than existing equations written in terms of angles. Since the variational integrators are derived from Hamilton's principle, they preserve the geometric features of the dynamics such as symplecticity, momentum maps, or total energy, as well as the structure of the configuration manifold. Computational properties of the variational integrators are illustrated for several mechanical systems.

Full work available at URL: https://arxiv.org/abs/0707.0022

zbMATH Keywords

variational integratorLagrangian mechanicshomogeneous manifoldgeometric integratortwo-sphere

Mathematics Subject Classification ID

Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Lagrange's equations (70H03) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

Cites Work

• Title not available (Why is that?)
• Title not available (Why is that?)
• Title not available (Why is that?)
• Title not available (Why is that?)
• Title not available (Why is that?)
• Title not available (Why is that?)
• Mechanical integrators derived from a discrete variational principle
• Geometric numerical integration illustrated by the Störmer–Verlet method
• Discrete versions of some classical integrable systems and factorization of matrix polynomials
• RATTLE: A velocity version of the SHAKE algorithm for molecular dynamics calculations
• Geometric integration algorithms on homogeneous manifolds
• Lie group variational integrators for the full body problem in orbital mechanics
• Lie group variational integrators for the full body problem
• Geometric integration on spheres and some interesting applications
• Investigation of a spatial double pendulum: an engineering approach
• State space models on special manifolds

Cited In (17)

• General techniques for constructing variational integrators
• Atlas of two-dimensional irreversible conservative Lagrangian mechanical systems with a second quadratic integral
• A novel formulation of point vortex dynamics on the sphere: geometrical and numerical aspects
• Lie group spectral variational integrators
• The rotating rigid body model based on a non-twisting frame
• Fixed point implementation of a variational time integrator approach for smoothed particle hydrodynamics simulation of fluids
• Title not available (Why is that?)
• Spectral variational integrators
• Exact solutions to a class of feedback systems on \(\mathsf{SO}(n)\)
• Discrete Dirac reduction of implicit Lagrangian systems with abelian symmetry groups
• Time-adaptive Lagrangian variational integrators for accelerated optimization
• Variational integrators for the dynamics of thermo-elastic solids with finite speed thermal waves
• Variational integrators for interconnected Lagrange-Dirac systems
• Lagrangian mechanics as a skew critical problem
• Variational time integrators for finite-dimensional thermo-elasto-dynamics without heat conduction
• A review of structure-preserving numerical methods for engineering applications
• High-order integrators for Lagrangian systems on homogeneous spaces via nonholonomic mechanics

Uses Software

• KELLEY

This page was built for publication: Lagrangian mechanics and variational integrators on two-spheres

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q3649846)