Hamiltonian Neural Network 6-DoF Rigid-Body Dynamic Modeling Based on Energy Variation Estimation

Algorithm 1

VHNN forward inference and training algorithm.

	Require:
	Ensure:, , ,
(1)	Initialize , , , .
(2)	Loop until the loss converges:
(3)	while loss not converged do
(4)	, and output and .
(5)	Input , and output .
(6)	Input , and output .
(7)	Calculate the next state of the missile , using formula (12) and (13).
(8)	Input , and output .
(9)	Calculate the mechanical energy from .
(10)	Calculate the loss using (16) and gradient.
(11)	Update all , , , .
(12)	end while
	return, , ,