CONSTRAINT VIOLATION STABILIZATION USING INPUT-OUTPUT FEEDBACK LINEARIZATION IN MULTIBODY DYNAMIC ANALYSIS

A constraint violation stabilization technique for solving differentia l algebraic equations (DAE) of multibody dynamic systems is presented. The technique, based on the input-output feedback linearization, is e mployed to transform the nonlinear DAE into a set of linear equations. Pin reaching the input-output linear relationship with proven stable zero dynamics, a robust control design is adopted to construct constra int forces that can be used to effectively correct the errors accumula ted in the constraint equations during the process of time integration , In the present development, If the pole placement method is used in control design of the resulting linear differential equations, constra int forces based on Baumgarte's constraint violation stabilization tec hnique are recovered. On the other hand, if variable structure control design is adopted, a new method in calculating constraint forces is o btained. Two numerical examples are used to demonstrate the effectiven ess of stabilizing tile constraint violation by using the proposed tec hnique.