Related papers: Quaternions and dynamics
Solving quaternion kinematical differential equations is one of the most significant problems in the automation, navigation, aerospace and aeronautics literatures. Most existing approaches for this problem neither preserve the norm of…
M\"obius transformations of the extended complex plane are at the crossroads of many interesting topics, e.g., they form a group under composition, are the simplest form of rational function, and are a path to Lie theory. Quaternionic…
We discuss the dynamical system approach applied to Higher Order Theories of Gravity. We show that once the theory of gravity has been specified, the cosmological equations can be written as a first-order autonomous system and we give…
The attitude of a rigid-body in the three dimensional space has a unique and global definition on the Special Orthogonal Group SO (3). This paper gives an overview of the rotation matrix, attitude kinematics and parameterization. The four…
In this study, we introduce the concept of commutative quaternions and commutative quaternion matrices. Firstly, we give some properties of commutative quaternions and their Hamilton matrices. After that we investigate commutative…
The purpose of the present work is to show that an adequate basis for understanding the essentially nonlinear phenomena must also be essentially nonlinear however still simple enough to play the role of a basis. It is shown that such types…
Numerical aspects of dynamos in periodic domains are discussed. Modifications of the solutions by numerically motivated alterations of the equations are being reviewed using the examples of magnetic hyperdiffusion and artificial diffusion…
Traditionally, robots are regarded as universal motion generation machines. They are designed mainly by kinematics considerations while the desired dynamics is imposed by strong actuators and high-rate control loops. As an alternative, one…
Spinors are used in physics quite extensively. The goal of this study is also the spinor structure lying in the basis of the quaternion algebra. In this paper, first, we have introduced spinors mathematically. Then, we have defined…
The Euler-Lagrange equations (EL) are very important in the theoretical description of several physical systems. In this work we have used a simplified form of EL to study one-dimensional motions under the action of a constant force. From…
Euler angles determining rotations of a system as a whole are conveniently separated in three-particle basis functions. Analytic integration of matrix elements over Euler angles is done in a general form. Results for the Euler angle…
A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumptions are shown to lead to the planar 1D pendulum and to the…
This paper is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a…
New method of analysing the free and heavy symmetric tops using Euler's equations to perform extraction from the body frame to the lab frame. Subsequent to extraction, the lab frame equations are solved by space phasor method.
It is known that quaternions represent rotations in 3D Euclidean and Minkowski spaces. However, product by a quaternion gives rotation in two independent planes at once and to obtain single-plane rotations one has to apply by half-angle…
Given a hyperkahler manifold M, the hyperkahler structure defines a triple of symplectic structures on M; with these, a triple of Hamiltonians defines a so called hyperhamiltonian dynamical system on M. These systems are integrable when can…
In 1900, Macfarlane proposed a hyperbolic variation on Hamilton's quaternions that closely resembles Minkowski spacetime. Viewing this in a modern context, we expand upon Macfarlane's idea and develop a model for real hyperbolic 3-space in…
This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…
We provide a brief overview of what is known about Quadratic Gravity, which includes terms quadratic in the curvatures in the fundamental action. This is proposed as a renormalizeable UV completion for quantum gravity which continues to use…
In this paper we show that there are applications that transform the movement of a pendulum into movements in $\mathbb{R}^3$. This can be done using Euler top system of differential equations. On the constant level surfaces, Euler top…