Develops a discrete variational integrator for double-bracket dissipative systems that exactly preserves coadjoint orbits while dissipating energy.
Discrete E uler- P oincar\'e and L ie- P oisson equations
2 Pith papers cite this work. Polarity classification is still indexing.
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2026 2verdicts
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A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.
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Discrete variational calculus for double-bracket dissipation
Develops a discrete variational integrator for double-bracket dissipative systems that exactly preserves coadjoint orbits while dissipating energy.