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A Multibody Toolbox for Hybrid Dynamic System Modeling Based on Nonholonomic Symbolic Formalism

[+] Author Affiliations
Jiamin Wang, Vinay R. Kamidi, Pinhas Ben-Tzvi

Virginia Tech, Blacksburg, VA

Paper No. DSCC2018-9000, pp. V003T29A003; 9 pages
  • ASME 2018 Dynamic Systems and Control Conference
  • Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control
  • Atlanta, Georgia, USA, September 30–October 3, 2018
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5191-3
  • Copyright © 2018 by ASME


This paper proposes a hybrid multibody dynamics formalism with a symbolical multibody toolbox developed in MATLAB Environment. The toolbox can generate the dynamic model of a multibody system with hybrid and nonholonomic dynamic properties. The framework and software structure of the toolbox are briefly demonstrated. The paper discusses the recursive kinematics and modular modeling theories that help improve the modeling performance and offer accessibility into the dynamic elements. The formalism that offers a symbolic solution to nonholonomic and constrained dynamics is explained in detail. The toolbox also provides design tools and auto-compilation of hybrid automata. Two exemplary models and their simulations are presented to verify the feasibility of the formalism and demonstrate the performance of the toolbox.

Copyright © 2018 by ASME



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