Regard this kinetic energy as fun-function, then its inertiamatrix M determines the differential equation.
以该机器人的动能作为泛函数，则其惯性矩阵M决定了泛函极值微分方程组的表达式。
2
For rigid spacecraft attitude tracking system with uncertain inertiamatrix and external disturbances, an adaptive sliding mode approach is presented.
针对存在不确定惯量矩阵和外干扰的刚体航天器姿态跟踪系统，提出了一种自适应滑模控制方法。
3
Compared with the computed torque method, the algorithm can give error convergence bound clearly without acceleration measurement and inverse inertiamatrix.