Second-order constraints for equations of motion of constrained systems

被引：68

作者：

Chen, YH ^{[1
]}

机构：

[1] Georgia Inst Technol, Sch Mech Engn, Atlanta, GA 30332 USA

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 1998年 / 3卷 / 03期

关键词：

control; Lagrangean mechanics; modeling; nonholonomic constraint;

D O I：

10.1109/3516.712120

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Motivated by the Udwadia and Kalaba equation, it is suggested that one can take the advantage of the second-order form of constraint in a more global sense, The second-order form is especially useful in deriving equations of motion that are uncoupled and Lagrangean multiplier free. As a demonstration, the procedure of incorporating the second-order form into the Maggi's equation and Lagrange's equation is outlined. We consider both holonomic and nonholonomic cases.

引用

页码：240 / 248

页数：9

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