Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations

Author:

Terze Zdravko,Müller Andreas,Zlatar Dario

Publisher

Springer Science and Business Media LLC

Subject

Control and Optimization,Computer Science Applications,Mechanical Engineering,Aerospace Engineering,Modelling and Simulation

Reference40 articles.

1. Betsch, P., Siebert, R.: Rigid body dynamics in terms of quaternions: Hamiltonian formulation and conserving numerical integration. Int. J. Numer. Methods Eng. 79, 444–473 (2009)

2. Nikravesh, P.E.: Spatial kinematic and dynamic analysis with Euler parameters. In: Haug, E.J. (ed.) Computer Aided Analysis and Optimization of Mechanical System Dynamics, pp. 261–281. Springer, Heidelberg (1984)

3. Altmann, S.L.: Rotations, Quaternions, and Double Groups. Oxford University Press, Oxford (1986)

4. Holm, D.D.: Geometric Mechanics. Part II: Rotating, Translating and Rolling. Imperial College Press, London (2008)

5. Barker, L.E., Bowles, R.L., Williams, L.H.: Development and application of a local linearization of quaternion rate equations in real-time flight simulation problems. NASA tech. note, TN D-7347 (1973)

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