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  • Optimal Control On SO (3) : SO (3) Is Non-Euclidean Space

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    MahmoudAbdulGalil
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    Grad Project

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    MATH404 Project

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    Grad Project

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    © All Rights Reserved
    Download as ODP, PDF, TXT or read online from Scribd
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    10 views2 pages

    Optimal Control On SO (3) : SO (3) Is Non-Euclidean Space

    Uploaded by

    MahmoudAbdulGalil
    Grad Project

    Copyright:

    © All Rights Reserved
    Download as ODP, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 2

    Optimal Control on SO(3)

    •SO(3) is non-euclidean space


    •Rigid body dynamics evolve on SO(3)

    •
    Discrete Equations of Motion
    Utilize discrete D'Alembert principle
    •

    Where we approximate integration with a sum


    •

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