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Control of Constrained Systems Described by Lagrangian DAEs

[+] Author Affiliations
Jason P. Frye, Brian C. Fabien

University of Washington, Seattle, WA

Paper No. DETC2011-47502, pp. 327-335; 9 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5481-5
  • Copyright © 2011 by ASME


In this paper, a nonlinear controller design for constrained systems described by Lagrangian differential algebraic equations (DAEs) is presented. The controller design utilizes the structure introduced by the coordinate splitting formulation, a numerical technique used for integration of DAEs. In this structure, the Lagrange multipliers associated with the constraint equations are eliminated, and the equations of motion are transformed into implicit differential equations. Making use of this, a feedback linearizing controller can be chosen for successful motion tracking of the constrained system. Numerical examples demonstrate the controller design can be successfully applied to fully actuated and underactuated systems.

Copyright © 2011 by ASME



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