On the control of a constrained multibody system

DOI10.1016/S0045-7825(98)00114-5zbMath0943.70020MaRDI QIDQ1808134

Yanyan Li

Publication date: 5 September 2000

Published in: Computer Methods in Applied Mechanics and Engineering (Search for Journal in Brave)

zbMATH Keywords

Lagrangian approachcontrol torquesfeasible command strategiesconstrained multibody system

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Dynamics of multibody systems (70E55)

Related Items

Control of a three-link manipulator: collision avoidance of a moving obstacle ⋮ The application of extended inverse dynamics control ⋮ Control of a three-link manipulator driven by three spinning disks ⋮ Modelling and control of a Puma-like manipulator. ⋮ Modelling and control of a walking four link robot.

Uses Software

• Matlab
• Optimization Toolbox

Cites Work

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• On a horizontal version of the inverse pendulum problem
• Collision avoidance by a ship with a moving obstacle: Computation of feasible command strategies
• Feasible control design for plants with discrete-time Markov jump parameters
• Open loop strategies for the control of a disk rolling on a horizontal plane
• Feasible Controller Design for Stochastic Systems
• Computation of feasible command strategies for the navigation of a ship in a narrow zigzag channel