A Computational Approach for Variational Integration of Attitude Dynamics on SO(3)

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Publication date: 3 January 2022

Abstract: 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).

Has companion code repository: https://github.com/NikhilPS1995/AttitudeDynamics

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