First, according to the tracking error dynamics and kinematics described by unit quaternion error and angular velocity error, a sliding mode controller is derived based on Lyapunov theory.
首先根据由误差四元数和误差角速度描述的跟踪误差动力学和运动学方程，设计了基于李亚普诺夫方法的滑模变结构控制律。
In this paper, the kinematics simulation for airborne folding mechanism is firstly being made, and the formulas for calculating the crank 's angular velocity and angular acceleration are obtained.
本文首先通过对机载折叠机构做运动学分析，得出了曲柄的角速度和角加速度计算公式。
Secondly, by analyzing kinematics of members when the system operates stably in the conditions of rigid, acquired velocity rating and rated angular velocity etc.
其次分析了该系统在刚性条件下稳定运行时各构件的运动情况，求得各传动构件的额定速度、额定角速度等。
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