2 articles for “Inertia tensor”

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Research ArticleOpen accessPhrase in the titleExplicit Exact Formulas for the 3-D Tetrahedron Inertia Tensor in Terms of its Vertex CoordinatesF. TononThe inertia tensor of a tetrahedron is composed of its moments of inertia. This study presents explicit exact formulas for the moments of inertia of a 3-D tetrahedron as simple polynomials of its vertex coordinates. …Journal of Mathematics and Statistics, Vol. 1, Issue 1 · 31 Mar 2005 · 10,907 accessesView PDF Cite

Research ArticleOpen accessIn the abstractVehicle-Fixed-Frame Adaptive Controller and Intrinsic Nonlinear PID Controller for Attitude Stabilization of a Complex-Shaped Underwater VehicleChanaka Thushitha Bandara, Lakmali Nadeesha Kumari, Sanjeeva Maithripala, Asanga RatnaweeraIn this study we present attitude stabilization using a vehicle-fixed-frame adaptive controller and an intrinsic nonlinear PID controller for a low-speed Autonomous Underwater Vehicle (AUV), of complex shape. Controlling an AUV poses a huge challenge because of the non-linearity, time variance and unpredictable external disturbance, as well as because its dynamics and hydrodynamic parameters are difficult to identify due to … …Journal of Mechatronics and Robotics, Vol. 4, Issue 1 · 7 Dec 2020 · 6,987 accessesView PDF Cite