New constraint stabilization technique for dynamic systems with nonholonomic constraints

S. D. Wu, J. C. Chiou, J. Y. Yang

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

A new constraint stabilization technique, based on the velocity correction method, is proposed for solving multibody dynamic (MBD) systems with nonholonomic constraints. The technique is based on the assumption that the numerical errors occurred in updating both the nonholonomic constraint equation and the numerically integrated velocity. A numerical example demonstrates that the constraint errors of nonholonomic constraint are close to the machine constant for the several chosen numerical time integrators.

Original languageEnglish
Pages (from-to)497-499
Number of pages3
JournalJournal of Guidance, Control, and Dynamics
Volume22
Issue number3
DOIs
Publication statusPublished - 1999

ASJC Scopus subject areas

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

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