標題: Family of constraint-preserving integrators for solving quaternion equations
作者: Chiou, JC
Jan, YR
Wu, SD
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 1-Jan-2001
摘要: 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.
URI: http://hdl.handle.net/11536/30018
ISSN: 0731-5090
期刊: JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
Volume: 24
Issue: 1
起始頁: 72
結束頁: 78
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