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3.3.1 Nonlinear 6-DOF Rigid-Body<br />
Equations of Motion<br />
Lagrangian Parameterization:<br />
Application of the Theorem 3.2 with M = M RB yields the following expression:<br />
C RB <br />
0 33 mS 1 mSS 2 r g b <br />
mS 1 mSS 2 r g b <br />
mSS 1 r g b SI o 2 <br />
which can be rewritten according to (Fossen and Fjellstad 1995):<br />
C RB <br />
0 33 mS 1 mS 2 Sr gb <br />
mS 1 mSr gb S 2 <br />
SI b 2 <br />
#<br />
Joseph-Louis Lagrange (1736-1813)<br />
In order to ensure that C RB (ν) = -C RB (ν) T , it is necessary to use S(ν₁)ν₁ = 0<br />
and include S(ν₁) in C RB<br />
{21}<br />
.<br />
17<br />
Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
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