摘要
The second order Euler-Lagrange equations are transformed to a set of first order differential/algebraic equations, which are then transformed to state equations by using local parameterization. The corresponding discretization method is presented, and the results can be used to implementation of various numerical integration methods. A numerical example is presented finally.
The second order Euler-Lagrange equations are transformed to a set of first order differential/algebraic equations, which are then transformed to state equations by using local parameterization. The corresponding discretization method is presented, and the results can be used to implementation of various numerical integration methods. A numerical example is presented finally.
