A new perspective on constrained motion
From MaRDI portal
Publication:4033221
DOI10.1098/rspa.1992.0158zbMath0766.70011OpenAlexW2003701638WikidataQ56607755 ScholiaQ56607755MaRDI QIDQ4033221
Robert E. Kalaba, Firdaus E. Udwadia
Publication date: 16 May 1993
Published in: Proceedings of the Royal Society of London. Series A: Mathematical and Physical Sciences (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1098/rspa.1992.0158
Dynamics of a system of particles, including celestial mechanics (70F99) Constrained dynamics, Dirac's theory of constraints (70H45) Other variational principles in mechanics (70H30)
Related Items
Control and maintenance of fully-constrained and underconstrained rigid body motion on Lie groups and their tangent bundles, The weighted generalized inverses of a partitioned matrix, A computational model of visual attention based on saliency maps, On the constraints violation in forward dynamics of multibody systems, Constrained motion revisited, An alternate proof for the equation of motion for constrained mechanical systems, Least-squares solution of equations of motion under inconsistent constraints, An alternative proof for the explicit equations of motion for mechanical systems with independent non-ideal constraints, Optimal stable control for nonlinear dynamical systems: an analytical dynamics based approach, Dynamics and control of a multi-body planar pendulum, Constrained motion of Hamiltonian systems, Application of Newton's law of motion to constrained mechanical systems possessing configuration manifolds with time-dependent geometric properties, The geometry of the Gibbs-Appell equations and Gauss' principle of least constraint, Udwadia-Kalaba approach based distributed consensus control for multi-mobile robot systems with communication delays, Relationship between the Udwadia-Kalaba equations and the generalized Lagrange and Maggi equations, Constrained Motion of Mechanical Systems and Tracking Control of Nonlinear Systems, A New Approach for Vehicle Lateral Velocity and Yaw Rate Control with Uncertainty, Inequality constraints in the process of jumping, Configuring tasks as constraints for coordinated mechanical systems: a Udwadia-Kalaba theory based adaptive robust control, A unified approach to rigid body rotational dynamics and control, Dynamic modeling and optimal robust approximate constraint-following control of constrained mechanical systems under uncertainty: A fuzzy approach, Cooperative-theoretic optimal adaptive robust control for fuzzy multiple manipulator systems, Explicit equations of motion for constrained mechanical systems with singular mass matrices and applications to multi-body dynamics, Structured learning of rigid‐body dynamics: A survey and unified view from a robotics perspective, Distributed formation control of networked mobile robots from the Udwadia–Kalaba approach, Robust constraint-following control for permanent magnet linear motor with optimal design: a fuzzy approach, Extended constraint enforcement formulations for finite-DOF systems based on Gauss's principle of least constraint. Overcoming limitations in applications to systems with singular mass matrices, Formulation and solution of a generalized Chebyshev problem. I, Conservative rigid body dynamics by convected base vectors with implicit constraints, A unified approach for the recursive determination of generalized inverses, Trajectory tracking control of parallel manipulator based on Udwadia-Kalaba approach, Symbolic and recursive computation of different types of generalized inverses, The Geometry of Constrained Motion, On the castor dynamic behavior, An application of the Udwadia-Kalaba dynamic formulation to flexible multibody systems, Permissible control of general constrained mechanical systems, On constrained motion, Eliminating constraint drift in the numerical simulation of constrained dynamical systems, Forward and inverse dynamics of nonholonomic mechanical systems, Why can a free-falling cat always manage to land safely on its feet?, A novel adaptive robust control approach for underactuated mobile robot, Optimal tracking control of nonlinear dynamical systems, Recursive modular modelling methodology for lumped-parameter dynamic systems, Closed form solution for the equations of motion for constrained linear mechanical systems and generalizations: an algebraic approach, Regularization and index reduction for linear differential-algebraic systems, Synchronization of networked multibody systems using fundamental equation of mechanics, Dynamic programming and diagnostic classification, Explicit Poincaré equations of motion for general constrained systems. Part I. Analytical results, Response determination of linear dynamical systems with singular matrices: a polynomial matrix theory approach, Equations of motion for general constrained systems in Lagrangian mechanics, Is analytical dynamics a theoretical or an experimental science?, Readdressing the classic falling U-chain problem by a modular nonlinear FEM approach, Adaptive robust control methodology for active roll control system with uncertainty, Global controllability for quasilinear nonnegative definite system of ODEs and SDEs, A novel computer-oriented dynamical approach with efficient formulations for multibody systems including ignorable coordinates, Efficient formulation of the Gibbs-Appell equations for constrained multibody systems, Complete automation of the generalized inverse method for constrained mechanical systems of particles, Modeling Loose Joints in Elastic Structures-Variable Structure Motion Model Development, Modern explorations of the Brachistochrone-related problem: using the Udwadia–Kalaba approach, Uniform ultimate boundedness for underactuated mechanical systems as mismatched uncertainty disappeared, On Lagrangian dynamics and its control formulations, Using the fundamental equation of constrained motion with inequality constraints, General forms for the recursive determination of generalized inverses: Unified approach, Fundamental principles of Lagrangian dynamics: Mechanical systems with non-ideal, holonomic, and nonholonomic constraints, A constraint violation suppressing formulation for spatial multibody dynamics with singular mass matrix, Efficient numerical solution of constrained multibody dynamics systems
