EXPLICIT GENERALIZATION OF LAGRANGE EQUATIONS FOR HYBRID COORDINATE DYNAMIC-SYSTEMS
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An explicit generalization of the classical Lagrange's equations (for discrete coordinate dynamical systems) to cover a large family of multibody hybrid discrete/distributed parameter systems is presented. The coupled system of ordinary and partial differential equations follows directly from spatial and time differentiation of various Lagrangian functional, whereas the boundary conditions are directly established from another explicit set of symbolic variational equations. Five illustrative examples are presented. 1992 American Institute of Aeronautics and Astronautics, Inc., All rights reserved.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
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LEE, S. C., & JUNKINS, J. L.
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