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New developments in the dynamics of constrained systems and applications to tracking control

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1 Author(s)
F. E. Udwadia ; Dept. of Aerosp. & Mech. Eng., Univ. of Southern California, Los Angeles, CA, USA

This paper deals with the development of the explicit equations of motion for nonlinear mechanical and structural systems, which are holonomically and/or nonholonomically constrained. Based on these new results from analytical dynamics, the paper goes on to develop a class of tracking controllers for controlling general, nonlinear, mechanical systems. Unlike most control methods that perform some kind of linearization and/or cancellation, the methodology developed here obtains a class of control forces that `exactly' maintain the system along a certain trajectory, which in general, may be described by a set of differential equations in the observations/measurements. While having the ability to control general nonlinear mechanical systems so that the trajectory requirements as `exactly' satisfied, the method involves very little computation compared to standard approaches. This therefore makes the approach useful for the on-line real-time control of highly nonlinear systems

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Control of Oscillations and Chaos, 2000. Proceedings. 2000 2nd International Conference  (Volume:3 )

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