New constraint stabilization technique for dynamic systems with nonholonomic constraints

被引：2
|
作者：
Wu, SD [1 ]
Chiou, JC [1 ]
Yang, JY [1 ]
机构：
[1] Natl Chiao Tung Univ, Dept Elect & Control Engn, Hsinchu 300, Taiwan
来源：
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS | 1999年 / 22卷 / 03期
关键词：
D O I：
10.2514/2.7634
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
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.
引用
收藏
页码：497 / 499
页数：3
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