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Contents
Contents
L
IE
T
OOLS
P
ACKAGE
V
ERSION 1.03
User's Guide
Miguel Torres-Torriti
17 May 2004
Contents
List of Figures
List of Tables
Introduction
Capabilities of the Lie Tools Package
Target Audience for the Lie Tools Package
System Requirements
Background Information and Reference Material
Compiling, Installing and Loading the Lie Tools Package
Compiling LTP
Installing LTP
Loading LTP
Basic Notions and LTP Formalism
Practical Applications of Lie Algebras and Groups
Trajectory planning and control
Nonlinear filtering
Using LTP: Some Practical Examples
Example 1: Simplification of Lie algebraic expressions
Example 1: Stabilization of a rigid body in space
Step 1: Construction of the Hall basis for the Lie algebra of indeterminates
Step 2: Calculation of the right-hand side of the Wei-Norman equation
Example 2: Finite dimensional realization of a nonlinear filter
Function Reference
createLBobjects
phb
phbize
posxinphb
bracketlen
simpLB
regroupLB
reduceLB
cbhexp
evalLB2expr
calcLB
selectLB
createSubsRel
codeCBHcf
reduceLBT
ad
ead, eadr
pead, peadr
wne, wner
wnde
Topics for Further Improvement
Generation of a
-th order CBH formula (cbhexpr)
Functions for setting-up and solving logarithmic equations automatically
Automatic controller design/synthesis functions
Implementation Notes
Highlights of some Implementation Issues
Recommendations for Improvement
Bibliography
About this document ...
Miguel Attilio Torres-Torriti 2004-05-31
-th order CBH formula (cbhexpr)
