New constraint stabilization technique for dynamic systems with nonholonomic constraints

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

doi:10.2514/2.7634

New constraint stabilization technique for dynamic systems with nonholonomic constraints

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

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

2 Citations (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 language	English
Pages (from-to)	497-499
Number of pages	3
Journal	Journal of Guidance, Control, and Dynamics
Volume	22
Issue number	3
DOIs	https://doi.org/10.2514/2.7634
Publication status	Published - 1999
Externally published	Yes

ASJC Scopus subject areas

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

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10.2514/2.7634

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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.",

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AB - 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.

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New constraint stabilization technique for dynamic systems with nonholonomic constraints

Abstract

ASJC Scopus subject areas

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