Browsing by Author "Jan, YR"

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Family of constraint-preserving integrators for solving quaternion equations
(2001-01-01)
Chiou, JC
;
Jan, YR
;
Wu, SD
;
電控工程研究所
;
Institute of Electrical and Control Engineering
A family of numerical time integrators that exactly preserve the constraint of quaternion equations is developed, The constraint-preserving integrators based on the property of the skew-symmetric matrix and the proposed proven theorems are used to improve the accuracy of updating Euler parameters. The stability and accuracy analysis of the generalized constraint-preserving integrators is also discussed. Furthermore, we demonstrate that the proposed integrators are A-stable integrators that are proven to be useful in calculating angular orientations of kinematic and dynamic systems. A numerical example is used to demonstrate the superiority of the proposed integrators.