A Drift-Free Left Invariant Control System on the Lie Group SO(3)×R3×R3. (31st March 2015)

• Record Type: Journal Article
• Authors: Pop, Camelia
• Other Names: Pandolfi Anna Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2015(2015)
• Publication Date: 2015-03-31
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2015/652819
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : A controllable drift-free system on the Lie groupG = S O ( 3 ) × R 3 × R 3 is considered. The dynamics and geometrical properties of the corresponding reduced Hamilton's equations ong ∗, ·, · - are studied, where·, · - is the minus Lie-Poisson structure on the dual spaceg ∗ of the Lie algebrag = s o ( 3 ) × R 3 × R 3 ofG . The numerical integration of this system is also discussed.