Adaptive realization of desired constraint stabilization dynamics in the control of multibody systems

DOI10.1098/RSTA.2001.0884zbMath1012.70018OpenAlexW2041145796MaRDI QIDQ2781023

John L. Junkins, Maruthi Ram Akella, Andrew J. Kurdila

Publication date: 19 June 2003

Published in: Philosophical Transactions of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1098/rsta.2001.0884

zbMATH Keywords

holonomic constraintsmultibody systemsadaptive stabilizationnumerical simulationroboticsoptimization criteriaconstraint drift dynamicscooperative actuationredundantly actuated systemsreference adaptive control scheme

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Dynamics of multibody systems (70E55)

Related Items (1)

On the constraints violation in forward dynamics of multibody systems

This page was built for publication: Adaptive realization of desired constraint stabilization dynamics in the control of multibody systems