Dynamics of the N-fold Pendulum in the Framework of Lie Group Integrators
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Abstract: Since their introduction, Lie group integrators have become a method of choice in many application areas. Various formulations of these integrators exist, and in this work we focus on Runge--Kutta--Munthe--Kaas methods. First, we briefly introduce this class of integrators, considering some of the practical aspects of their implementation, such as adaptive time stepping. We then present some mathematical background that allows us to apply them to some families of Lagrangian mechanical systems. We conclude with an application to a nontrivial mechanical system: the N-fold 3D pendulum.
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Cites work
- A family of embedded Runge-Kutta formulae
- An introduction to Lie group integrators - basics, new developments and applications
- Global formulations of Lagrangian and Hamiltonian dynamics on manifolds. A geometric approach to modeling and analysis
- scientific article; zbMATH DE number 5596589 (Why is no real title available?)
- scientific article; zbMATH DE number 1795895 (Why is no real title available?)
- Lie group integrators for mechanical systems
- Lie Groups, Lie Algebras, and Representations
- Partitioned Runge--Kutta methods in Lie-group setting
- Tangent Bundles of Homogeneous Spaces are Homogeneous Spaces
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