소음진동 (Journal of KSNVE)

한국소음진동공학회 (The Korean Society for Noise and Vibration Engineering)
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GIM을 사용한 Holonomic과 Nonholonomic 시스템의 동적 거동 및 제어

Dynamics and Control of Holonomic & Nonholonomic System Using GIM

  • 발행 : 1996.10.01
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초록

There have been many studies to control holonomic and/or nonholonomic systems, and nonlinear control problems. However, their approaches require complicated intermediate procedures. Using the Generalized Inverse Method derived by Udwadia and Kalaba in 1992, this study provides two applications to the control of holonomically and/or nonholonomically constrained systems. These applications illustrate the ease with which the equation by the Generalized Inverse Method can be utilized for the purpose of (a) control of highly nonlinear systems without depending on any linearization, (b) maintaining precision tracking motions with the presence of known disturbances, and (c) explicit determination of control forces under the circumstances (a) and (b).

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참고문헌

  1. American Journal of Mathematics v.2 On The Fundamental Formulae of Dynamics Gibbs, J. W.
  2. Cpmptes Rendus Hibdomadaires des Seances de l, Academie des Sciences (Paris), Tome CLII(Ier Semestre 1911) Sur Les Kiaisons Exprimeers Par des Relations Non Linearires Entre Vitesses Appell, P.
  3. ASME Journal of Applied Mechamics Dynamics of Non-holonomic Systems Kane, T. R.;
  4. ASME Journal of Applied Mechamics Another Look at Nonholonomic Systems Passerello, c. E.;huston, R. L.
  5. Proceedings of the Royal Society of London v.439 A New Perspective on Constrained motion Udwadea, F. E.;Kalaba, R. E.
  6. The Extended for Constrained Mechanical Systems Udwadia, F. E.;kalaba, R. E.;Eun, H.C.
  7. PhD. Thesis Pn The Dynamics and Control of Constrained Mechanical & Structural Systems Eun, H.C.
  8. Rend. Circ. Matem. Palermo. v.32 Example De mouvement D,un Point Assujetti A Une Liaison Exprimee Par Une Relation Non Lineaire Entre Les Composantes De La Vitesse Appell, P.