On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems
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چکیده
منابع مشابه
On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems
This paper addresses the boundedness property of the inertia matrix and the skew-symmetric property of the Coriolis matrix for vehicle-manipulator systems. These properties are widely used in control theory and Lyapunov-based stability proofs and thus important to identify. The skew-symmetric property does not depend on the system at hand, but on the parameterisation of the Coriolis matrix, whi...
متن کاملOn the Boundedness and Skew-Symmetric Properties of the Inertia and Coriolis Matrices for Vehicle-Manipulator Systems
This paper addresses the boundedness property of the inertia matrix and the skewsymmetric property of the Coriolis matrix for vehicle-manipulator systems. These properties are widely used in Lyapunov-based stability proofs and are therefore important to identify. For example, the skew-symmetric property does not depend on the system at hand, but on the choice of parameterisation of the Coriolis...
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ژورنال
عنوان ژورنال: Journal of Dynamic Systems, Measurement, and Control
سال: 2012
ISSN: 0022-0434,1528-9028
DOI: 10.1115/1.4006077