Journal of Applied Mathematics

Research Article

An Underactuated Drift-Free Left Invariant Control System on a Specific Lie Group

Figure 3

The Kahan's integrator of the system (3.8) ( 𝑐 1 = 1 , 𝑐 2 = 2 , 𝑐 3 = 3 , 𝑘 = 1 0 , and ℎ = 1 , 𝑥 1 ( 0 ) = 𝑥 2 ( 0 ) = 𝑥 3 ( 0 ) = 1 ).
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