The dynamic equations of systems of rigid bodies are developed as nonlinear, muti-variable control systems in state-space representations. This provides a unified treatment in terms of the general problem and indicates specific characteristics of coupled-body system equations which may be later exploited. A purpose of this paper is to provide a formulation for treating the optimal dynamic synthesis problems of general rigid and nonrigid body systems.

This content is only available via PDF.
You do not currently have access to this content.