Chein-Shan Liu1
CMES-Computer Modeling in Engineering & Sciences, Vol.12, No.2, pp. 83-108, 2006, DOI:10.3970/cmes.2006.012.083
Abstract The system we consider consists of two parts: a purely algebraic system describing the manifold of constraints and a differential part describing the dynamics on this manifold. For the constrained dynamical problem in its engineering application, it is utmost important to developing numerical methods that can preserve the constraints. We embed the nonlinear dynamical system with dimensions n and with k constraints into a mathematically equivalent n + k-dimensional nonlinear system, which including k integrating factors. Each subsystem of the k independent sets constitutes a Lie type system of X˙i = AiXi with Ai ∈ so(ni,1) and n1 +···+nk… More >
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