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

J. C. Chiou*, S. D. Wu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)


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
Issue number2
Publication statusPublished - 1998
Externally publishedYes

ASJC Scopus subject areas

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


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