The rank of a matrix and the inertia of a square matrix are two of the most generic concepts in matrix theory for describing the dimension of the row/column vector space and the sign distribution of the eigenvalues of the matrix. Matrix rank and inertia optimization problems are a class of discontinuous optimization problems, in which decision variables are matrices running over certain matrix ...

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...

The purpose of this paper is to revisit Hua’s matrix equality (and inequality) through the Schur complement. We present Hua’s original proof and two new proofs with some extensions of Hua’s matrix equality and inequalities. The new proofs use a result concerning Schur complements and a generalization of Sylvester’s law of inertia, each of which is useful in its own right.

This article presents a new composite body method for numerically forming the inertia matrix and the bias vector of manipulators, which is more efficient than the other two existing types of composite body methods. The main discrepancy of this one from the existing ones is that all points in a manipulator are observed from the origin of the base frame and the distances are all measured from thi...

Closed-form formulas are derived for the rank and inertia of submatrices of the Moore–Penrose inverse of a Hermitian matrix. A variety of consequences on the nonsingularity, nullity and definiteness of the submatrices are also presented.

In this paper, we derive the necessary and sufficient conditions for the quaternion matrix equation XA=B to have the least-square bisymmetric solution and give the expression of such solution when the solvability conditions are met. Futhermore, we consider the maximal and minimal inertias of the least-square bisymmetric solution to this equation. As applications, we derive sufficient and necess...

Abstract. For linear time-invariant (LTI) state space systems it is well-known that its asymptotic stability can be related to solution properties of the Lyapunov matrix equation according to so-called inertia theorems. The question now arises how analogous results can be obtained for LTI descriptor systems (singular systems, differential-algebraic equations). The stability behaviour of a LTI d...