https://scholars.lib.ntu.edu.tw/handle/123456789/340310
Title: | A skew-symmetric property of rigid-body systems | Authors: | Lian, Kuang-Yow LI-SHENG WANG LI-CHEN FU |
Keywords: | Euler-lagrange equation; Globally valid dynamics; Rigid-body dynamics; Rotation matrix; Skew-symmetric property | Issue Date: | 1998 | Journal Volume: | 33 | Journal Issue: | 3 | Start page/Pages: | 187-197 | Abstract: | 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 |
Appears in Collections: | 應用力學研究所 |
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