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

Jin-Chern Chiou, S. D. Wu

研究成果: Paper同行評審

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁面1-8
頁數8
DOIs
出版狀態Published - 1 一月 1996
事件Guidance, Navigation, and Control Conference and Exhibit, 1996 - San Diego, United States
持續時間: 29 七月 199631 七月 1996

Conference

ConferenceGuidance, Navigation, and Control Conference and Exhibit, 1996
國家United States
城市San Diego
期間29/07/9631/07/96

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