对向量求导的常用公式
鲁鹏
北京理工大学，宇航学院
2019.05.09
最近经常会遇到常数和向量对向量求导的计算，感觉需要总结点什么了。以后，我还会在这个文档中添加新的公式。
前提和定义
首先明确本文规定求导使用分子布局约定（numerator layout convention）。在这中布局约定下，函数
f
\boldsymbol{f}
f (包括标量值函数)关于
x
∈
R
n
\boldsymbol{x}\in\mathbb{R}^{n}
x∈Rn的微分可以用公式
d
f
(
x
)
=
∂
f
∂
x
d
x
\mathrm{d}\boldsymbol{f}(\boldsymbol{x}) = \dfrac{\partial \boldsymbol{f}}{\partial\boldsymbol{x}}\mathrm{d}\boldsymbol{x}
df(x)=∂x∂fdx 计算。向量求导有两种约定形式，分子布局约定（numerator layout convention）和分母布局约定（denominator layout convention）。
接下来给出在分子布局约定下，向量相关求导的定义。
已知
f
(
x
)
f(\boldsymbol{x})
f(x) 是关于列向量
x
=
[
x
1
x
2
.
.
.
x
n
]
T
\boldsymbol{x}= [x_{1}\quad x_{2}\quad ...\quad x_{n}]^{T}
x=[x1x2...xn]T 的标量函数，则
f
(
x
)
f(\boldsymbol{x})
f(x)是关于列向量
x
\boldsymbol{x}
x的导数为
∂
f
(
x
)
∂
x
=
[
∂
f
∂
x
1
∂
f
∂
x
2
.
.
.
∂
f
∂
x
n
]
\frac{\partial f(\boldsymbol{x})}{\partial \boldsymbol{x}} = \left[\begin{matrix} \frac{\partial f}{\partial x_{1}} & \frac{\partial f}{\partial x_{2}} &...& \frac{\partial f}{\partial x_{n}} \end{matrix}\right]
∂x∂f(x)=[∂x1∂f∂x2∂f...∂xn∂f]
函数
f
(
x
)
f(\boldsymbol{x})
f(x)的梯度记为
∇
f
(
x
)
\nabla f(\boldsymbol{x})
∇f(x)，则梯度和导数的关系如下
∇
f
(
x
)
=
[
∂
f
(
x
)
∂
x
]
T
\nabla f(\boldsymbol{x}) = \left[\frac{\partial f(\boldsymbol{x})}{\partial \boldsymbol{x}}\right]^{T}
∇f(x)=[∂x∂f(x)]T
函数
f
(
x
)
f(\boldsymbol{x})
f(x)的Hessian矩阵是
n
×
n
n \times n
n×n矩阵，记为
∇
2
f
(
x
)
\nabla^2 f(\boldsymbol{x})
∇2f(x)
∇
2
f
(
x
)
=
[
∂
2
f
∂
x
1
2
∂
2
f
∂
x
1
∂
x
2
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.
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∂
2
f
∂
x
1
∂
x
n
∂
2
f
∂
x
2
∂
x
1
∂
2
f
∂
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2
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∂
2
f
∂
x
2
∂
x
n
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∂
2
f
∂
x
n
∂
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1
∂
2
f
∂
x
n
∂
x
2
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.
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∂
2
f
∂
x
n
2
]
\nabla^2 f(\boldsymbol{x}) = \left[\begin{matrix} \frac{\partial^{2} f}{\partial x_{1}^{2}} & \frac{\partial^{2} f}{\partial x_{1}\partial x_{2}} & ... & \frac{\partial^{2} f}{\partial x_{1}\partial x_{n}}\\ \frac{\partial^{2} f}{\partial x_{2}\partial x_{1}} & \frac{\partial^{2} f}{\partial x_{2}^{2}} & ...& \frac{\partial^{2} f}{\partial x_{2}\partial x_{n}} \\ ... & ... & ... & ... \\ \frac{\partial^{2} f}{\partial x_{n}\partial x_{1}} & \frac{\partial^{2} f}{\partial x_{n}\partial x_{2}} & ... & \frac{\partial^{2} f}{\partial x_{n}^{2}} \end{matrix}\right]
∇2f(x)=
∂x12∂2f∂x2∂x1∂2f...∂xn∂x1∂2f∂x1∂x2∂2f∂x22∂2f...∂xn∂x2∂2f............∂x1∂xn∂2f∂x2∂xn∂2f...∂xn2∂2f
已知
F
(
x
)
=
[
f
1
(
x
)
f
2
(
x
)
.
.
.
f
m
(
x
)
]
T
F(\boldsymbol{x}) = [f_{1}(\boldsymbol{x})\quad f_{2}(\boldsymbol{x})\quad ...\quad f_{m}(\boldsymbol{x})]^{T}
F(x)=[f1(x)f2(x)...fm(x)]T 是关于列向量
x
\boldsymbol{x}
x 的向量值函数，则
F
(
x
)
F(\boldsymbol{x})
F(x)关于
x
\boldsymbol{x}
x的导数为
∂
F
(
x
)
∂
x
=
[
∂
f
1
∂
x
1
∂
f
1
∂
x
2
.
.
.
∂
f
1
∂
x
n
∂
f
2
∂
x
1
∂
f
2
∂
x
2
.
.
.
∂
f
2
∂
x
n
.
.
.
.
.
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.
.
∂
f
m
∂
x
1
∂
f
m
∂
x
2
.
.
.
∂
f
m
∂
x
n
]
\frac{\partial F(\boldsymbol{x})}{\partial \boldsymbol{x}} = \left[\begin{matrix} \frac{\partial f_{1}}{\partial x_{1}} & \frac{\partial f_{1}}{\partial x_{2}} &...& \frac{\partial f_{1}}{\partial x_{n}}\\ \frac{\partial f_{2}}{\partial x_{1}} & \frac{\partial f_{2}}{\partial x_{2}} &...& \frac{\partial f_{2}}{\partial x_{n}} \\ ... & ... & ... & ...\\ \frac{\partial f_{m}}{\partial x_{1}} & \frac{\partial f_{m}}{\partial x_{2}} &...& \frac{\partial f_{m}}{\partial x_{n}} \end{matrix}\right]
∂x∂F(x)=
∂x1∂f1∂x1∂f2...∂x1∂fm∂x2∂f1∂x2∂f2...∂x2∂fm............∂xn∂f1∂xn∂f2...∂xn∂fm
函数 F ( x ) F(\boldsymbol{x}) F(x)的雅克比矩阵记为 J J J，则 J = ∂ F ( x ) / ∂ x J = {\partial F(\boldsymbol{x})}/{\partial \boldsymbol{x}} J=∂F(x)/∂x，雅克比矩阵 J J J等于向量值函数 F ( x ) F(\boldsymbol{x}) F(x)关于 x \boldsymbol{x} x的导数。记函数 F ( x ) F(\boldsymbol{x}) F(x)的梯度记为 ∇ F ( x ) \nabla F(\boldsymbol{x}) ∇F(x)，梯度和导数的关系为 ∂ F ( x ) / ∂ x = ∇ F ( x ) T {\partial F(\boldsymbol{x})}/{\partial \boldsymbol{x}}=\nabla F(\boldsymbol{x})^{T} ∂F(x)/∂x=∇F(x)T。
已知向量
a
=
[
a
1
a
2
a
3
]
T
\boldsymbol{a}= [a_{1}\quad a_{2}\quad a_{3}]^{T}
a=[a1a2a3]T，则
a
\boldsymbol{a}
a 的叉乘矩阵
a
×
\boldsymbol{a}^{\times}
a× 定义如下
a
×
=
[
0
−
a
3
a
2
a
3
0
−
a
1
−
a
2
a
1
0
]
\boldsymbol{a}^{\times} = \left[\begin{matrix} 0 & -a_{3} & a_{2}\\ a_{3} & 0 & -a_{1}\\ -a_{2} & a_{1} & 0 \end{matrix}\right]
a×=
0a3−a2−a30a1a2−a10
有了叉乘矩阵，向量叉乘可以像等式（1）那样表示
a
×
b
=
a
×
b
(1)
\boldsymbol{a} \times \boldsymbol{b} = \boldsymbol{a}^{\times} \boldsymbol{b} \tag{1}
a×b=a×b(1)
常用求导公式
在以上前提和定义的基础上，可以总结以下常用的求导公式，用于求函数的微分
d
f
(
x
)
=
∂
f
∂
x
d
x
\mathrm{d}\boldsymbol{f}(\boldsymbol{x}) = \dfrac{\partial \boldsymbol{f}}{\partial\boldsymbol{x}}\mathrm{d}\boldsymbol{x}
df(x)=∂x∂fdx
∂
∥
a
∥
∂
a
=
∂
a
∂
a
=
a
T
a
(2)
\frac{\partial \lVert \boldsymbol{a}\rVert}{\partial \boldsymbol{a}} = \frac{\partial a}{\partial \boldsymbol{a}} = \frac{\boldsymbol{a}^{T}}{a} \tag{2}
∂a∂∥a∥=∂a∂a=aaT(2)
读者可以将所有向量写成坐标的形式检验下 d a ( a ) \mathrm{d}a(\boldsymbol{a}) da(a)和 ∂ a ∂ a d a \dfrac{\partial a}{\partial\boldsymbol{a}}\mathrm{d}\boldsymbol{a} ∂a∂ada是否相等，明显 d a ( a ) = a T a d a \mathrm{d}a(\boldsymbol{a}) = \dfrac{\boldsymbol{a}^{T}}{a}\mathrm{d}\boldsymbol{a} da(a)=aaTda 是成立的 。
∂ a T a ∂ a = ∂ a 2 ∂ a = 2 a T (3) \frac{\partial \boldsymbol{a}^{T}\boldsymbol{a}}{\partial \boldsymbol{a}} = \frac{\partial a^{2}}{\partial \boldsymbol{a}} = 2\boldsymbol{a}^{T}\tag{3} ∂a∂aTa=∂a∂a2=2aT(3)
∂ ( A x ) ∂ x = A （雅可比矩阵） (4) \frac{\partial(A \boldsymbol{x})}{\partial \boldsymbol{x}} = A （雅可比矩阵）\tag{4} ∂x∂(Ax)=A（雅可比矩阵）(4)
∂ x T A x ∂ x = x T ( A + A T ) (5) \frac{\partial \boldsymbol{x}^{T} A \boldsymbol{x}}{\partial \boldsymbol{x}}= \boldsymbol{x}^{T}(A + A^{T}) \tag{5} ∂x∂xTAx=xT(A+AT)(5)
已知
y
=
a
×
b
+
c
\boldsymbol{y} = \boldsymbol{a} \times \boldsymbol{b}+\boldsymbol{c}
y=a×b+c，则
∂
y
∂
b
=
y
T
y
a
×
(6)
\frac{\partial y}{\partial\boldsymbol{b}} = \frac{\boldsymbol{y}^{T}}{y}\boldsymbol{a}^{\times} \tag{6}
∂b∂y=yyTa×(6)
∂ α ∂ r = [ ∂ α ∂ V 1 ∂ α ∂ V 2 ∂ α ∂ V 3 ] [ ∂ V 1 ∂ r 1 ∂ V 1 ∂ r 2 ∂ V 1 ∂ r 3 ∂ V 2 ∂ r 1 ∂ V 2 ∂ r 2 ∂ V 2 ∂ r 3 ∂ V 3 ∂ r 1 ∂ V 3 ∂ r 2 ∂ V 3 ∂ r 3 ] = ∂ α ∂ V ∂ V ∂ r (7) \frac{\partial\alpha}{\partial\boldsymbol{r}} = \left[\begin{matrix} \frac{\partial\alpha}{\partial V_{1}} & \frac{\partial\alpha}{\partial V_{2}} & \frac{\partial\alpha}{\partial V_{3}} \end{matrix}\right] \left[\begin{matrix} \frac{\partial V_{1}}{\partial r_{1}} & \frac{\partial V_{1}}{\partial r_{2}} & \frac{\partial V_{1}}{\partial r_{3}}\\ \frac{\partial V_{2}}{\partial r_{1}} & \frac{\partial V_{2}}{\partial r_{2}} & \frac{\partial V_{2}}{\partial r_{3}}\\ \frac{\partial V_{3}}{\partial r_{1}} & \frac{\partial V_{3}}{\partial r_{2}} & \frac{\partial V_{3}}{\partial r_{3}}\\ \end{matrix}\right]= \frac{\partial\alpha}{\partial\boldsymbol{V}}\frac{\partial\boldsymbol{V}}{\partial\boldsymbol{r}} \tag{7} ∂r∂α=[∂V1∂α∂V2∂α∂V3∂α] ∂r1∂V1∂r1∂V2∂r1∂V3∂r2∂V1∂r2∂V2∂r2∂V3∂r3∂V1∂r3∂V2∂r3∂V3 =∂V∂α∂r∂V(7)
d ( a × b ) d t = d a d t × b + a × d b d t (8) \frac{ d(\boldsymbol{a} \times \boldsymbol{b}) }{dt} = \frac{ d\boldsymbol{a} }{dt} \times \boldsymbol{b} + \boldsymbol{a} \times \frac{ d\boldsymbol{b} }{dt} \tag{8} dtd(a×b)=dtda×b+a×dtdb(8)
∂ [ f ( x ) a ] ∂ x = a ∂ f ( x ) ∂ x (9) \frac{\partial[f(\boldsymbol{x})\boldsymbol{a}]}{\partial\boldsymbol{x}} = \boldsymbol{a} \frac{\partial f(\boldsymbol{x})}{\partial \boldsymbol{x}} \tag{9} ∂x∂[f(x)a]=a∂x∂f(x)(9)
已知
ω
=
[
ω
1
ω
2
ω
3
]
T
\boldsymbol{\omega} = \begin{bmatrix} \omega_{1} & \omega_{2} & \omega_{3} \end{bmatrix}^{T}
ω=[ω1ω2ω3]T，
r
=
[
r
1
r
2
r
3
]
T
\boldsymbol{r} = \begin{bmatrix} r_{1} & r_{2} & r_{3} \end{bmatrix}^{T}
r=[r1r2r3]T，
I
3
I_{3}
I3 是
3
×
3
3\times3
3×3 单位矩阵
∂
[
(
r
T
ω
)
r
]
∂
r
=
(
r
T
ω
)
I
3
+
r
ω
T
(10)
\frac{\partial [(\boldsymbol{r}^{T} \boldsymbol{\omega}) \boldsymbol{r}]}{\partial \boldsymbol{r}} = (\boldsymbol{r}^{T} \boldsymbol{\omega})I_{3} + \boldsymbol{r}\boldsymbol{\omega}^{T} \tag{10}
∂r∂[(rTω)r]=(rTω)I3+rωT(10)
叉乘运算公式
已知
ω
=
[
ω
1
ω
2
ω
3
]
T
\boldsymbol{\omega} = \begin{bmatrix} \omega_{1} & \omega_{2} & \omega_{3} \end{bmatrix}^{T}
ω=[ω1ω2ω3]T，
r
=
[
r
1
r
2
r
3
]
T
\boldsymbol{r} = \begin{bmatrix} r_{1} & r_{2} & r_{3} \end{bmatrix}^{T}
r=[r1r2r3]T
ω
×
(
ω
×
r
)
=
ω
×
ω
×
r
=
[
−
ω
2
2
−
ω
3
2
ω
1
ω
2
ω
1
ω
3
ω
1
ω
2
−
ω
1
2
−
ω
3
2
ω
2
ω
3
ω
1
ω
3
ω
2
ω
3
−
ω
1
2
−
ω
2
2
]
[
r
1
r
2
r
3
]
(11)
\begin{aligned} \boldsymbol{\omega} \times (\boldsymbol{\omega}\times \boldsymbol{r}) &= \boldsymbol{\omega}^{\times}\boldsymbol{\omega}^{\times}\boldsymbol{r}\\ &=\begin{bmatrix} -\omega_{2}^{2} - \omega_{3}^{2} & \omega_{1}\omega_{2} & \omega_{1}\omega_{3}\\ \omega_{1}\omega_{2} & -\omega_{1}^{2} - \omega_{3}^{2} & \omega_{2}\omega_{3} \\ \omega_{1}\omega_{3} & \omega_{2}\omega_{3} & -\omega_{1}^{2} - \omega_{2}^{2} \end{bmatrix} \begin{bmatrix} r_{1} \\ r_{2} \\ r_{3} \end{bmatrix} \end{aligned} \tag{11}
ω×(ω×r)=ω×ω×r=
−ω22−ω32ω1ω2ω1ω3ω1ω2−ω12−ω32ω2ω3ω1ω3ω2ω3−ω12−ω22
r1r2r3
(11)
雅克比恒等式：
a
×
(
b
×
c
)
=
b
×
(
a
×
c
)
+
c
×
(
b
×
a
)
\mathbf{a}\times(\mathbf{b}\times\mathbf{c}) = \mathbf{b}\times(\mathbf{a}\times\mathbf{c}) + \mathbf{c}\times(\mathbf{b}\times\mathbf{a})
a×(b×c)=b×(a×c)+c×(b×a)
拉格朗日公式： a × ( b × c ) = ( a ⋅ c ) b − ( a ⋅ b ) c \mathbf{a}\times(\mathbf{b}\times\mathbf{c}) = (\mathbf{a}\cdot\mathbf{c}) \mathbf{b} - (\mathbf{a}\cdot\mathbf{b}) \mathbf{c} a×(b×c)=(a⋅c)b−(a⋅b)c
使用软件计算导数
可以使用编程语言提供的符号运算功能来求导，例如：Python、Julia、C++和MATLAB等等。下面给出几个简单的例子。比较出名的一个符号运算库是symengine，它是使用C++开发的，很多编程语言都可以使用该符号运算库。
例如，现在要求向量函数 g = − r ∥ r ∥ 3 \boldsymbol{g} = -\dfrac{\boldsymbol{r}}{\Vert\boldsymbol{r}\Vert^3} g=−∥r∥3r关于 r \boldsymbol{r} r的雅克比矩阵，下面分别用Python和MATLAB实现。
- 使用Python求解的代码：
import sympy as sp # 导入符号运算库
r = sp.Matrix(sp.symbols('r_x r_y r_z', real=True)); # A 3 by 1 vector
g = -r / sp.sqrt(sp.DotProduct(r,r).doit())**3 # 计算g的表达式
dgdr = g.jacobian(r) # 计算雅克比矩阵
dgdrs = sp.sympify(dgdr) # 简化雅克比矩阵，有没有这一步结果竟然一样
print(sp.latex(dgdrs)) # 输出雅克比矩阵公式的latex代码
结果：
[
3
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+
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]
\left[\begin{matrix}\frac{3 r_{x}^{2}}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{5}{2}}} - \frac{1}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{3}{2}}} & \frac{3 r_{x} r_{y}}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{5}{2}}} & \frac{3 r_{x} r_{z}}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{5}{2}}}\\\frac{3 r_{x} r_{y}}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{5}{2}}} & \frac{3 r_{y}^{2}}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{5}{2}}} - \frac{1}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{3}{2}}} & \frac{3 r_{y} r_{z}}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{5}{2}}}\\\frac{3 r_{x} r_{z}}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{5}{2}}} & \frac{3 r_{y} r_{z}}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{5}{2}}} & \frac{3 r_{z}^{2}}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{5}{2}}} - \frac{1}{\left(r_{x}^{2} + r_{y}^{2} + r_{z}^{2}\right)^{\frac{3}{2}}}\end{matrix}\right]
(rx2+ry2+rz2)253rx2−(rx2+ry2+rz2)231(rx2+ry2+rz2)253rxry(rx2+ry2+rz2)253rxrz(rx2+ry2+rz2)253rxry(rx2+ry2+rz2)253ry2−(rx2+ry2+rz2)231(rx2+ry2+rz2)253ryrz(rx2+ry2+rz2)253rxrz(rx2+ry2+rz2)253ryrz(rx2+ry2+rz2)253rz2−(rx2+ry2+rz2)231
- 使用MATLAB求解的代码：
syms r [3, 1]; % 定义符号变量r
assume(r, 'real'); % 设置r为实向量
g = -r/norm(r)^3; % 构造符号表达式g
dgdr = jacobian(g, r); % 计算雅克比矩阵
dgdrs = simplify(dgdr); % 简化雅克比矩阵
latex(dgdrs) % 输出雅克比矩阵公式的latex代码
结果：
(
−
−
2
r
1
2
+
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2
2
+
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3
2
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+
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5
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−
r
1
2
−
2
r
2
2
+
r
3
2
(
r
1
2
+
r
2
2
+
r
3
2
)
5
/
2
3
r
2
r
3
(
r
1
2
+
r
2
2
+
r
3
2
)
5
/
2
3
r
1
r
3
(
r
1
2
+
r
2
2
+
r
3
2
)
5
/
2
3
r
2
r
3
(
r
1
2
+
r
2
2
+
r
3
2
)
5
/
2
−
r
1
2
+
r
2
2
−
2
r
3
2
(
r
1
2
+
r
2
2
+
r
3
2
)
5
/
2
)
\left(\begin{array}{ccc} -\frac{-2\,{r_{1}}^2+{r_{2}}^2+{r_{3}}^2}{{\left({r_{1}}^2+{r_{2}}^2+{r_{3}}^2\right)}^{5/2}} & \frac{3\,r_{1}\,r_{2}}{{\left({r_{1}}^2+{r_{2}}^2+{r_{3}}^2\right)}^{5/2}} & \frac{3\,r_{1}\,r_{3}}{{\left({r_{1}}^2+{r_{2}}^2+{r_{3}}^2\right)}^{5/2}}\\ \frac{3\,r_{1}\,r_{2}}{{\left({r_{1}}^2+{r_{2}}^2+{r_{3}}^2\right)}^{5/2}} & -\frac{{r_{1}}^2-2\,{r_{2}}^2+{r_{3}}^2}{{\left({r_{1}}^2+{r_{2}}^2+{r_{3}}^2\right)}^{5/2}} & \frac{3\,r_{2}\,r_{3}}{{\left({r_{1}}^2+{r_{2}}^2+{r_{3}}^2\right)}^{5/2}}\\ \frac{3\,r_{1}\,r_{3}}{{\left({r_{1}}^2+{r_{2}}^2+{r_{3}}^2\right)}^{5/2}} & \frac{3\,r_{2}\,r_{3}}{{\left({r_{1}}^2+{r_{2}}^2+{r_{3}}^2\right)}^{5/2}} & -\frac{{r_{1}}^2+{r_{2}}^2-2\,{r_{3}}^2}{{\left({r_{1}}^2+{r_{2}}^2+{r_{3}}^2\right)}^{5/2}} \end{array}\right)
−(r12+r22+r32)5/2−2r12+r22+r32(r12+r22+r32)5/23r1r2(r12+r22+r32)5/23r1r3(r12+r22+r32)5/23r1r2−(r12+r22+r32)5/2r12−2r22+r32(r12+r22+r32)5/23r2r3(r12+r22+r32)5/23r1r3(r12+r22+r32)5/23r2r3−(r12+r22+r32)5/2r12+r22−2r32
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