Equations of Motion for Constrained Multibody Systems and their Control

By Firdaus E. Udwadia. 2005

47 citations recorded by the source corpus.

This paper presents some recent advances in the dynamics and control of constrained multibody systems. The constraints considered need not satisfy the D’Alembert principle and therefore the results are of general applicability. They show that, in the presence of constraints, the constraint force acting on the multibody system can always be viewed as made up of the sum of two components whose explicit form is provided. The first of these components consists of the constraint force that would have existed were all the constraints ideal; the second is caused by the nonideal nature of the constraints, and though it needs specification by the mechanician who is modeling the specific system at hand, it has a specific form. The general equations of motion obtained herein provide new insights into the simplicity with which Nature seems to operate. They point toward the development of new and novel approaches for the exact control of complex multibody nonlinear systems.

Subfields: Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/a08b821505114070eb4099800155ad7ab5d23ff7

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In Control and Systems Engineering

Citations in the corpus

On the constraints violation in forward dynamics of multibody systems (2017, methodology): “Recent review papers of interest on the formulation of multibody systems have been provided by Rahnejat [10], Udwadia [11] Eberhard and Schiehlen [12], Schiehlen [13] and Nikravesh [14].”