Constraint violation stabilization using input-output feedback linearization in multibody dynamic analysis

Jin-Chern Chiou, S. D. Wu

Research output: Contribution to conferencePaper

2 Scopus citations

Abstract

A constraint violation stabilization technique for solving differential algebraic equations (DAE) of multibody dynamic (MBD) systems is presented. The technique., based on the input-output feedback linearization, is employed to transform the nonlinear differential algebraic equation into a set of linear equations. Upon the input-output linear relationship is reached with proven stable zero dynamics, a robust control design is adopted to construct constraint forces that can be used to effectively correct the errors accumulated in the constraint equations during the process of time integration. In the present development, if pole placement method is used in control design of the resulting linear differential equations, constraint forces based on Baumgarte’s constraint violation stabilization technique are recovered. On the other hand, if variable structure control design is adopted, a new method in calculating constraint forces is obtained. A numerical example is used to demonstrate the effectiveness of stabilizing the constraint violation by using the proposed technique.

Original languageEnglish
Pages1-8
Number of pages8
DOIs
StatePublished - 1 Jan 1996
EventGuidance, Navigation, and Control Conference and Exhibit, 1996 - San Diego, United States
Duration: 29 Jul 199631 Jul 1996

Conference

ConferenceGuidance, Navigation, and Control Conference and Exhibit, 1996
CountryUnited States
CitySan Diego
Period29/07/9631/07/96

Fingerprint Dive into the research topics of 'Constraint violation stabilization using input-output feedback linearization in multibody dynamic analysis'. Together they form a unique fingerprint.

Cite this