Constraint stabilization in nonlinear dynamics via control theoretic methods
Conference
McDaniel, D, Fitz-Coy, N, Kurdila, A et al. (2000). Constraint stabilization in nonlinear dynamics via control theoretic methods
. 5 435-442. 10.2514/6.2000-1752
McDaniel, D, Fitz-Coy, N, Kurdila, A et al. (2000). Constraint stabilization in nonlinear dynamics via control theoretic methods
. 5 435-442. 10.2514/6.2000-1752
The constraint stabilization formulations within the framework of nonlinear control theory are derived. It is possible to interpret many constraint stabilization methods as nonlinear controllers by introducing Lie algebraic feedback control theory. Constraint violation is simply output error, when the measures of constraint violation are considered as output functions of the state variables. Several stabilization methods correspond to nonlinear control methods that utilize conservation laws. Numerical examples are presented that are used to synthesize nonlinear multibody dynamics models.
