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A skew-symmetric property of rigid-body systems |
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| Authors: | Kuang-Yow Lian Li-Sheng Wang Li-Chen Fu |
| Affiliation: | aDepartment of Electrical Engineering, Chung-Yuan Christian University, Chung-Li, Taiwan;bInstitute of Applied Mechanics, National Taiwan University, Taipei, Taiwan;cDepartment of Electrical Engineering, National Taiwan University, Taipei, Taiwan |
| 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. |
| Keywords: | Rigid-body dynamics Rotation matrix Euler&ndash Lagrange equation Globally valid dynamics Skew-symmetric property |
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