Constrained Mechanical Systems in Descriptor form: Identification, Simulation and Control

Summary, in English

The subject of constrained controlled mechanical (“mechatronic”) systems in descriptor form is a field of current research in mechanical engineering, control theory and applied mathematics. It is essentially based on the progress in numerical mathematics on the solution of differential-algebraic equations, cf. [1–3] and on the developments in control theory on singular (or descriptor) systems, cf. [4–6]. In mechanics the investigation of constrained mechanical systems is a well-known problem, particular in the case of nonholonomic systems [7,8]. First relations between mechanical and numerical approaches were established by Baumgarte [9] in 1972 and more recently by Nikravesh [10] and Führer [11], stimulating a lot of research work on the simulation of mechanical constrained systems, e.g. [12,13].

• Författare: Peter Müller; Peter Rentrop; Willi Kortüm; Claus Führer
• Avdelning/ar: Numerical Analysis
• Publiceringsår: 1993
• Språk: Engelska
• Sidor: 451-456
• Publikation/Tidskrift/Serie: Solid Mechanics and its Applications
• Volym: 20
• Länkar: http://dx.doi.org/10.1007/978-94-017-0625-4_34
• Dokumenttyp: Artikel i tidskrift
• Förlag: Springer
• Ämne: Mathematics
• Status: Published
• Forskningsgrupp: Numerical Analysis
• ISBN/ISSN/Övrigt: ISSN: 0925-0042