A skew-symmetric property of rigid-body systems

被引：1
|
作者：
Lian, KY [1 ]
Wang, LS
Fu, LC
机构：
[1] Chung Yuan Christian Univ, Dept Elect Engn, Chungli, Taiwan
[2] Natl Taiwan Univ, Inst Appl Mech, Taipei, Taiwan
[3] Natl Taiwan Univ, Dept Elect Engn, Taipei 10764, Taiwan
来源：
SYSTEMS & CONTROL LETTERS | 1998年 / 33卷 / 03期
关键词：
rigid-body dynamics; rotation matrix; Euler-Lagrange equation; globally valid dynamics; skew-symmetric property;
D O I：
10.1016/S0167-6911(97)00110-2
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The configuration space for the attitude of a vehicle can be modeled as SO(3), namely the rotation matrix group. This work investigates the globally valid dynamics of natural Lagrangian systems and gyroscopic systems with configuration space including SO(3). The dynamics is derived by using the global representations of jet bundles of SO(3). A skew-symmetric property associated with the systems can be then established. Such property can be used in many applications such as the adaptive controller design. (C) 1998 Elsevier Science B.V. All rights reserved.
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页码：187 / 197
页数：11
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