Model Formulation Over Lie Groups and Numerical Methods to Simulate the Motion of Gyrostats and Quadrotors

Model Formulation Over Lie Groups and Numerical Methods to Simulate the Motion of Gyrostats and Quadrotors

The present paper recalls a formulation of non-conservative system dynamics through the Lagrange−d’Alembert principle expressed through a generalized Euler−Poincaré form of the system equation on a Lie group. The paper illustrates applications of the generalize...

Full description

Bibliographic Details
Main Author: Simone Fiori
Format: Article
Language:English
Published: MDPI AG 2019-10-01
Series:Mathematics
Subjects:
lagrange–d’alembert principle
non-conservative dynamical system
euler–poincaré equations
gyrostat satellite
quadcopter drone
forward euler method
explicit runge–kutta method
lie group
Online Access:https://www.mdpi.com/2227-7390/7/10/935
Description
Summary:The present paper recalls a formulation of non-conservative system dynamics through the Lagrange−d’Alembert principle expressed through a generalized Euler−Poincaré form of the system equation on a Lie group. The paper illustrates applications of the generalized Euler−Poincaré equations on the rotation groups to a gyrostat satellite and a quadcopter drone. The numerical solution of the dynamical equations on the rotation groups is tackled via a generalized forward Euler method and an explicit Runge−Kutta integration method tailored to Lie groups.
ISSN:2227-7390

Similar Items