SICE Division Conference Program and Abstracts
SICE 2nd Annual Conference on Control Systems
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An observer design for the motion of the n-dimensional rigid body
Hidetoshi SuzukiYutaka WatanabeNoboru Sakamoto
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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 60

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Abstract
In this note it is shown how the n-dimensional rigid body equation naturally leads to a Hamilton’s canonical equation, and how this may be used for controller and observer designs, by using the geometry of mechanical systems on manifolds and avoiding the parameterization of Lie group SO(n). Based on this approach, it is possible to focus on the intrinsic property of the system.
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© 2002 SICE
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