https://scholars.lib.ntu.edu.tw/handle/123456789/340310
標題: | A skew-symmetric property of rigid-body systems | 作者: | Lian, Kuang-Yow LI-SHENG WANG LI-CHEN FU |
關鍵字: | Euler-lagrange equation; Globally valid dynamics; Rigid-body dynamics; Rotation matrix; Skew-symmetric property | 公開日期: | 1998 | 卷: | 33 | 期: | 3 | 起(迄)頁: | 187-197 | 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. © 1998 Elsevier Science B.V. All rights reserved. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-0346337240&doi=10.1016%2fS0167-6911%2897%2900110-2&partnerID=40&md5=ae652ccd4fac2e7d1c987e91ab8ebe2d http://scholars.lib.ntu.edu.tw/handle/123456789/340310 |
ISSN: | 01676911 | DOI: | 10.1016/S0167-6911(97)00110-2 |
顯示於: | 應用力學研究所 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。