It was proposed the Lie group such that symplectic structure of orbits of co-adjoint representation of the group is revealed symplectic structure of a rigid body dynamics in quaternion variables. It is shown that Poisson brackets of corresponding Lie-Poisson structure coincide with canonical Poisson brackets on cotangent bundle of group unit quaternions.
After reviewing some of the fundamental aspects of Drinfel'd doubles and Poisson-Lie T-duality, we describe the three-dimensional isotropic rigid rotator on $SL(2,\mathbb{C})$ starting from a non-Abelian deformation of the natural carrier space of its Hamiltonian description on $T^*SU(2) \simeq SU(2) \ltimes \mathbb{R}^3$. A new model is then introduced on the dual group $SB(2,\mathbb{C})$, within the Drinfel'd double description of $SL(2,\mathbb{C})=SU(2) \bowtie SB(2,\mathbb{C})$. The two models are analyzed from the Poisson-Lie duality point of view, and a doubled generalized action is buil…
We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding technique and Lyapunov stability theory. The stable embedding technique extends the attitude dynamics from the set of unit quaternions to the set of quaternions, which is a Euclidean space, such that the set of unit quaternions is an invariant set of the extended dynamics. Such a stable extension of the system dynamics to a Euclidean space allows us to employ well studied Lyapunov techniques in Euclidean spaces such as…
