3. Dynamic Models of Ground, Aerial and Marine Robots

Chapter 3 focuses on the dynamic modeling of the robots and vehicles in unified approach. First, the kinematic and dynamic model of the rigid body is discussed which is the basis for the further investigations. For robots, the dynamic model is developed using Appell’s equation and Lagrange’s equation. For ground cars, a nonlinear dynamic model, two nonlinear input affine approximations and a linearized model is derived. For airplanes, first the usual navigation frames are shown. Then the kinematic and dynamic equations are presented considering aerodynamic and gyroscopic effects. Finally, the main flying modes, the trimming and linearization principle and the concept of the parametrization of aerodynamic and trust forces for identification purposes are outlined. For surface and underwater ships, first the rigid body equations are developed, then the hydrodynamic and restoring forces and moments are shown. A short introduction is given for wind, wave and current models. Finally, the results are summarized in the kinematic model and the dynamic models in both body frame and NED frame for ships.