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 journalArticlepeer-review

2 Citations (Scopus)


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
Issue number3
Publication statusPublished - 1999
Externally publishedYes

ASJC Scopus subject areas

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


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