DSpace
 

Tai Nguyen So - Vietnam National University, Ha Noi - VNU >
TRƯỜNG ĐẠI HỌC CÔNG NGHỆ >
PTN Micro Nano >
New - Articles of Universities of Vietnam from Scopus >

Search

Please use this identifier to cite or link to this item: http://tainguyenso.vnu.edu.vn/jspui/handle/123456789/13172

Title: Consistent definition of partial derivatives of matrix functions in dynamics of mechanical systems
Authors: Van Khang N.
Keywords: Kronecker product
Lagrangian equations
Mechanism dynamics
Partial derivative of matrix functions
Robot dynamics
Issue Date: -1-Uns- -1
Publisher: Mechanism and Machine Theory
Citation: Volume , Issue , Page -
Abstract: The partial derivatives of scalar functions, vector functions, and matrix functions with respect to a vector variable have many practical applications in the study of dynamics and control of mechanical systems. The paper firstly presents an overview of the matrix calculus related to Kronecker products. Secondly, two theorems establishing the relationship between the time derivative of a matrix and its partial derivative with respect to a vector, and the partial derivative of the product of two matrices with respect to a vector will be presented. Finally, a new matrix form of Lagrangian equations is developed to demonstrate the usefulness of these theorems in the study of dynamics of mechanical systems. © 2010 Elsevier Ltd. All rights reserved.
URI: http://tainguyenso.vnu.edu.vn/jspui/handle/123456789/13172
ISSN: 0094114X
Appears in Collections:New - Articles of Universities of Vietnam from Scopus

Files in This Item:

File SizeFormat
HN_U275.pdf40.03 kBAdobe PDFView/Open

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

 

Valid XHTML 1.0! DSpace Software Copyright © 2002-2010  Duraspace - Feedback