Differential-algebraic equations of programmed motions of Lagrangian dynamical systems

被引：16

作者：

Mukharlyamov, R. G. ^{[1
]}

机构：

[1] Peoples Friendship Univ Russia, Moscow 117198, Russia

来源：

MECHANICS OF SOLIDS | 2011年 / 46卷 / 04期

基金：

俄罗斯基础研究基金会;

关键词：

equations of dynamics; programmed constraint; constraint stabilization; system; stability; canonical variables; perturbation; numerical solution;

D O I：

10.3103/S0025654411040042

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

We suggest a method for constructing the dynamic equations of manipulator systems in canonical variables. The system of differential dynamic equations has an integral manifold corresponding to the holonomic and nonholonomic constraint equations. The controls are determined so as to ensure the stability of this manifold. We state conditions for the exponential stability of the manifold and for constraint stabilization when solving the dynamic equations numerically by a simplest difference method. We also present the solution of the problem of control of a plane two-link manipulator.

引用

页码：534 / 543

页数：10

共 50 条

[1] Differential-algebraic equations of programmed motions of Lagrangian dynamical systems
R. G. Mukharlyamov
Mechanics of Solids, 2011, 46 : 534 - 543
[2] Aspects of modeling dynamical systems by differential-algebraic equations
Müller, PC
MATHEMATICAL AND COMPUTER MODELLING OF DYNAMICAL SYSTEMS, 2001, 7 (02) : 133 - 143
[3] On Realizing Differential-Algebraic Equations by Rational Dynamical Systems
Pavlov, Dmitrii
Pogudin, Gleb
PROCEEDINGS OF THE 2022 INTERNATIONAL SYMPOSIUM ON SYMBOLIC AND ALGEBRAIC COMPUTATION, ISSAC 2022, 2022, : 119 - 128
[4] Differential-algebraic equations and descriptor systems
Müller, PC
Simeon, B
MATHEMATICAL AND COMPUTER MODELLING OF DYNAMICAL SYSTEMS, 2001, 7 (02) : 131 - 132
[5] TRANSFORMATIONS OF DIFFERENTIAL-ALGEBRAIC SYSTEMS OF EQUATIONS
BULATOV, MV
COMPUTATIONAL MATHEMATICS AND MATHEMATICAL PHYSICS, 1994, 34 (03) : 301 - 311
[6] DIFFERENTIAL-ALGEBRAIC SYSTEMS AS DIFFERENTIAL-EQUATIONS ON MANIFOLDS
RHEINBOLDT, WC
MATHEMATICS OF COMPUTATION, 1984, 43 (168) : 473 - 482
[7] Differential-Algebraic Equations and Dynamic Systems on Manifolds
Kryvonos, Iu. G.
Kharchenko, V. P.
Glazunov, N. M.
CYBERNETICS AND SYSTEMS ANALYSIS, 2016, 52 (03) : 408 - 418
[8] A remark on the controllability problem for differential-algebraic dynamical systems
Krakhotko V.V.
Razmyslovich G.P.
Differential Equations, 2005, 41 (9) : 1364 - 1366
[9] Numerical integration of systems of delay differential-algebraic equations
Kuznetsov E.B.
Mikryukov V.N.
Computational Mathematics and Mathematical Physics, 2007, 47 (1) : 80 - 92
[10] The Lagrange differential-algebraic equations
Burov, A. A.
Kosenko, I. I.
PMM JOURNAL OF APPLIED MATHEMATICS AND MECHANICS, 2014, 78 (06): : 587 - 598

← 1 2 3 4 5 →