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

J. C. Chiou, Shuen-De Wu

Research output: Contribution to journalArticle

25 Citations (Scopus)

Abstract

A constraint violation stabilization technique for solving differential algebraic equations (DAE) of multibody dynamic systems is presented. The technique, based on the input-output feedback linearization, is employed to transform the nonlinear DAE into a set of linear equations. On reaching the input-output linear relationship 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 the 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. Two numerical examples arc used to demonstrate the effectiveness of stabilizing the constraint violation by using the proposed technique.

Original languageEnglish
Pages (from-to)222-228
Number of pages7
JournalJournal of Guidance, Control, and Dynamics
Volume21
Issue number2
DOIs
Publication statusPublished - 1998 Jan 1

Fingerprint

Feedback Linearization
Feedback linearization
Multibody Dynamics
Output Feedback
dynamic analysis
linearization
Dynamic Analysis
Dynamic analysis
stabilization
Stabilization
Differential equations
output
Control Design
Variable structure control
Robust control
differential equations
Linear equations
Algebraic Differential Equations
Poles
Dynamical systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics

Cite this

Constraint violation stabilization using input-output feedback linearization in multibody dynamic analysis. / Chiou, J. C.; Wu, Shuen-De.

In: Journal of Guidance, Control, and Dynamics, Vol. 21, No. 2, 01.01.1998, p. 222-228.

Research output: Contribution to journalArticle

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