DocumentCode
390967
Title
Explicit Wei-Norman formulae for matrix Lie groups
Author
Altafini, Claudio
Author_Institution
SISSA-ISAS, Int. Sch. for Adv. Studies, Trieste, Italy
Volume
3
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
2714
Abstract
The Wei-Norman formula locally relates the Magnus solution of a system of linear time-varying ODE with the solution expressed in terms of products of exponentials by means of a set of nonlinear differential equations in the parameters of the two types of solutions. A closed form expression of such formula is proposed, based only on the structure constants of the Lie algebra generated by the ODEs.
Keywords
Lie algebras; matrix algebra; nonlinear differential equations; time-varying systems; Lie algebra; Magnus solution; closed form expression; explicit Wei-Norman formulae; linear time-varying ODE; matrix Lie groups; nonlinear differential equations; structure constants; Algebra; Books; Control systems; Differential equations; Jacobian matrices; Motion planning; Nonlinear equations; Robot kinematics; Solid modeling; Time varying systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184251
Filename
1184251
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