Recursive Linearization of Multibody Dynamics and Application to Control Design

[+] Author and Article Information
Tsung-Chieh Lin, K. Harold Yae

Center for Simulation and Design Optimization, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242

J. Mech. Des 116(2), 445-451 (Jun 01, 1994) (7 pages) doi:10.1115/1.2919399 History: Received February 01, 1990; Online June 02, 2008


The nonlinear equations of motion in multibody dynamics pose a difficult problem in linear control design. It is therefore desirable to have linearization capability in conjunction with a general-purpose multibody dynamics modeling technique. A new computational method for linearization is obtained by applying a series of first-order analytical approximations to the recursive kinematic relationships. The method has proved to be computationally more efficient. It has also turned out to be more accurate because the analytical perturbation requires matrix and vector operations by circumventing numerical differentiation and other associated numerical operations that may accumulate computational error.

Copyright © 1994 by The American Society of Mechanical Engineers
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