n次元剛体の運動に対するオブザーバーの設計

抄録

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.