Abstract
The newly developed equations of motion for constrained mechanical systems are used as a means for the explicit determination of the control forces needed to cause mechanical systems to satisfy given constraints, such as motion along a given curve in phase space. Two simple examples are described utilizing this new approach to the control of nonlinear mechanical systems.
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Reference
Udwadia F. E. and R. E. Kalaba, “A New Perspective on Constrained Motion, ” Proceedings of the Royal Society of London vol. 439, pp. 407–410, 1992.
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© 1994 Springer Science+Business Media New York
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Udwadia, F.E., Kalaba, R.E. (1994). New Directions in the Control of Nonlinear Mechanical Systems. In: Guttalu, R.S. (eds) Mechanics and Control. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-2425-0_8
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DOI: https://doi.org/10.1007/978-1-4615-2425-0_8
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6029-2
Online ISBN: 978-1-4615-2425-0
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