Polyhedral Potential and Variational Integrator Computation of the Full Two Body Problem

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We demonstrate the effectiveness of the simulator and its accuracy in long term integration of mechanical systems without energy damping. Furthermore, this work deals with the geometric nonlinear control problem for rigid bodies where backstepping cont...

In (Fusco et. al., 2011) several periodic orbits of the Newtonian N-body problem have been found as minimizers of the Lagrangian action in suitable sets of T-periodic loops, for a given T>0. Each of them share the symmetry of one Platonic polyhedron. In this paper we first present an algorithm to enumerate all the orbits that can be found following the proof in (Fusco et. al., 2011). Then we describe a procedure aimed to compute them and study their stability. Our computati...

The problem of 3-dimensional, convex rigid-body collision over a plane is fully investigated; this includes bodies with sharp corners that is resolved without the need for nonsmooth convex analysis of tangent and normal cones. In particular, using nonsmooth Lagrangian mechanics, the equations of motion and jump equations are derived, which are largely dependent on the collision detection function. Following the variational approach, a Lie group variational collision integrato...

The discovery of binary and triple asteroids in addition to the execution of space missions to minor celestial bodies in the past several years have focused increasing attention on periodic orbits around irregular-shaped celestial bodies. In the present work, we adopt a polyhedron shape model for providing an accurate representation of irregular-shaped bodies, and employ the model to calculate their corresponding gravitational and effective potentials. We also investigate the...

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).

We outline a new method suggested by Conway (2016) for solving the two-body problem for solid bodies of spheroidal or ellipsoidal shape. The method is based on integrating the gravitational potential of one body over the surface of the other body. When the gravitational potential can be analytically expressed (as for spheroids or ellipsoids), the gravitational force and mutual gravitational potential can be formulated as a surface integral instead of a volume integral, and so...

An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete necessary conditions for optimality are derived, and an efficient computational approach is proposed to solve the resulting two point boundary value problem. The use of geometrically exact computations on SO(3) guarantees that this optimal control...

We consider the solid-solid interactions in the two body problem. The relative equilibria have been previously studied analytically and general motions were numerically analyzed using some expansion of the gravitational potential up to the second order, but only when there are no direct interactions between the orientation of the bodies. Here we expand the potential up to the fourth order and we show that the secular problem obtained after averaging over fast angles, as for t...

The two-dimensional n-body problem of classical mechanics is a non-integrable Hamiltonian system for n > 2. Traditional numerical integration algorithms, which are polynomials in the time step, typically lead to systematic drifts in the computed value of the total energy and angular momentum. Even symplectic integration schemes exactly conserve only an approximate Hamiltonian. We present an algorithm that conserves the true Hamiltonian and the total angular momentum to machin...

This paper presents an analytical model and a geometric numerical integrator for a rigid body connected to an elastic string, acting under a gravitational potential. Since the point where the string is attached to the rigid body is displaced from the center of mass of the rigid body, there exist nonlinear coupling effects between the string deformation and the rigid body dynamics. A geometric numerical integrator, refereed to as a Lie group variational integrator, is develope...