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CDC
2015
IEEE

Global formulations of Lagrangian and Hamiltonian mechanics on two-spheres

8 years 7 months ago
Global formulations of Lagrangian and Hamiltonian mechanics on two-spheres
Abstract— This paper provides global formulations of Lagrangian and Hamiltonian variational dynamics evolving on the product of an arbitrary number of two-spheres. Four types of Euler-Lagrange equations and Hamilton’s equations are developed in a coordinate-free fashion on two-spheres, without relying on local parameterizations that may lead to singularities and cumbersome equations of motion. The proposed intrinsic formulations of Lagrangian and Hamiltonian dynamics are novel in that they incorporate the geometry of two-spheres, resulting in equations of motion that are expressed compactly, and they are useful in analysis and computation of the global dynamics.
Taeyoung Lee, Melvin Leok, N. Harris McClamroch
Added 18 Apr 2016
Updated 18 Apr 2016
Type Journal
Year 2015
Where CDC
Authors Taeyoung Lee, Melvin Leok, N. Harris McClamroch
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