Jc. Chiou et Sd. Wu, CONSTRAINT VIOLATION STABILIZATION USING INPUT-OUTPUT FEEDBACK LINEARIZATION IN MULTIBODY DYNAMIC ANALYSIS, Journal of guidance, control, and dynamics, 21(2), 1998, pp. 222-228
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.