2009/03/02 by Taeyoung Lee, Lee, Taeyoung, Melvin Leok +3
Computer Science · Mathematics · Physics and Astronomy · #FOS: Mathematics #Model Reduction and Neural Networks #Modeling and Simulation Systems #Numerical Analysis (math.NA) #Numerical methods for differential equations
paper · pdf · doi:10.48550/arxiv.0903.0332
openalex publication_date 2009/03/02 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper presents an analytical model and a geometric numerical integrator for a rigid body connected to an elastic string, acting under a gravitational potential. Since the point where the string is attached to the rigid body is displaced from the center of mass of the rigid body, there exist nonlinear coupling effects between the string deformation and the rigid body dynamics. A geometric numerical integrator, refereed to as a Lie group variational integrator, is developed to numerically preserve the Hamiltonian structure of the presented model and its Lie group configuration manifold. These properties are illustrated by a numerical simulation.