Open Access
2006 Group Theory in the Problems of Modeling and Control of Multi-Body Systems
Clementina D. Mladenova
J. Geom. Symmetry Phys. 8: 17-121 (2006). DOI: 10.7546/jgsp-8-2006-17-121


This work is a review of our research activity during the last ten years concerning the problems of modeling and control of multi-body mechanical systems. Because the treatment of the above topics is quite sensitive with respect to the different parameterizations of the rotation group in three dimensional space $\mathrm{SO}(3)$ and because the properties of the parameterization more or less influence the efficiency of the dynamic model, here the so called vector-parameter is used for parallel considerations. The consideration of the mechanical system in the configurational space of pure vector-parameters with a group structure opens the possibilities for the Lie group theory to be applied in the problems of the dynamics and control. The sections in this paper present independent parts of an unified scientific approach.


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Clementina D. Mladenova. "Group Theory in the Problems of Modeling and Control of Multi-Body Systems." J. Geom. Symmetry Phys. 8 17 - 121, 2006.


Published: 2006
First available in Project Euclid: 20 May 2017

zbMATH: 1121.70007
MathSciNet: MR2336855
Digital Object Identifier: 10.7546/jgsp-8-2006-17-121

Rights: Copyright © 2006 Institute of Biophysics and Biomedical Engineering, Bulgarian Academy of Sciences

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