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A skew-symmetric property of rigid-body systems

✍ Scribed by Kuang-Yow Lian; Li-Sheng Wang; Li-Chen Fu

Publisher
Elsevier Science
Year
1998
Tongue
English
Weight
143 KB
Volume
33
Category
Article
ISSN
0167-6911

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✦ Synopsis

The conΓΏguration 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 conΓΏguration space including SO(3). The dynamics is derived by using the global representations of jet bundles of SO(3). A skewsymmetric property associated with the systems can be then established. Such property can be used in many applications such as the adaptive controller design.

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The rigid body motions of the bridge deck, along with the impact between the bridge deck and the abutments, were the source of extensive damage on skew highway bridges during the 1971 San Fernando earthquake. In this paper, a model for the rigid body motions of skew bridges is presented and analysed