A globally stable convergent algorithm for the integration of constrained mechanical systems

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Title: A globally stable convergent algorithm for the integration of constrained mechanical systems
Authors: Di Franco, P
Scarciotti, G
Astolfi, A
Item Type: Conference Paper
Abstract: In this paper the problem of simulation of con- strained mechanical systems is addressed. In modeling multi- body mechanical systems, the Lagrange formulation produces a redundant set of differential-algebraic equations, the integra- tion of which can lead to several difficulties, for example the drift of the “constraint violation”. One of the most popular approaches to alleviate this issue is the so-called Baumgarte’s method that relies on a linear feedback mechanism. This method can however lead to numerical instabilities when applied to nonlinear (mechanical) systems. The objective of this study is to propose a new method that ensures existence of solutions and makes the constraint manifold asymptotically attractive. The proposed technique is illustrated by means of a simple example.
Issue Date: 27-Jun-2018
Date of Acceptance: 20-Jan-2018
URI: http://hdl.handle.net/10044/1/57664
Publisher: IEEE
Copyright Statement: This paper is embargoed until publication.
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Commission of the European Communities
Commission of the European Communities
Funder's Grant Number: EP/L014343/1
Conference Name: 2018 American Control Conference
Publication Status: Accepted
Start Date: 2018-06-27
Finish Date: 2018-06-29
Conference Place: Milwaukee, Wisconsin
Embargo Date: publication subject to indefinite embargo
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering

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