论文标题
态度动力学上的变异整合的计算方法（3）
A Computational Approach for Variational Integration of Attitude Dynamics on SO(3)
论文作者
论文摘要
在本文中，将提供保留流动符号结构的离散力学和变分积分器的简要说明，并将开发可用于求解SO（3）歧管上的隐式方程的Newton-Raphson算法。这些技术将用于模拟Lie组SO上演变的刚体的旋转动力学（3）。
In this article, a brief description of Discrete Mechanics and Variational Integrators which preserve the symplectic structure of the flow will be provided and a Newton-Raphson algorithm that can be used to solve implicit equations on the SO(3) manifold will be developed. These techniques will be used to simulate the rotational dynamics of a rigid body evolving on the Lie Group SO(3).
