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
收藏
页码：534 / 543
页数：10
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