Taeyoung Lee, N. Harris McClamroch, Melvin Leok. A lie group variational integrator for the attitude dynamics of a rigid body with applications to the 3D pendulum. In Proceedings of 2005 IEEE Conference on Control Applications, CCA 2005, Toronto, ON, Canada, August 29-31, 2005. pages 962-967, IEEE, 2005. [doi]
Abstract is missing.