Lie group dynamics of reduced multibody-fluid systems

Terze, Zdravko; Pandža, Viktor; Andrić, Marijan; Zlatar, Dario

doi:10.2140/memocs.2021.9.167

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2024

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“…An improved nonlinear Simpson's variational integrator could find its application in simulating complex non-linear mechanisms. Some application examples could involve a system of synchronized pendulums [36]; the discrete optimal control of robotic systems [37]; the modal analysis of dynamical systems [38]; the motion analysis of multibody systems evolving in fluid environments [39]; or the motion prediction of sliding rods [24] and soft robots [25].…”

Section: Concluding Remarks and Perspectivesmentioning

confidence: 99%

Simpson’s Variational Integrator for Systems with Quadratic Lagrangians

Rojas-Quintero,

Dubois,

Cabrera-Díaz

2024

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This contribution proposes a variational symplectic integrator aimed at linear systems issued from the least action principle. An internal quadratic finite-element interpolation of the state is performed at each time step. Then, the action is approximated by Simpson’s quadrature formula. The implemented scheme is implicit, symplectic, and conditionally stable. It is applied to the time integration of systems with quadratic Lagrangians. The example of the linearized double pendulum is treated. Our method is compared with Newmark’s variational integrator. The exact solution of the linearized double pendulum example is used for benchmarking. Simulation results illustrate the precision and convergence of the proposed integrator.

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