NDLI: A unified framework for dynamics and Lyapunov stability of holonomically constrained rigid bodies

Content Provider	IEEE Xplore Digital Library
Author	Melhem, K. Zhaoheng Liu Loria, A.
Copyright Year	2004
Description	Author affiliation: Dept. de Genie Mecanique, Ecole Polytechnique de Montreal, Que. (Melhem, K.; Zhaoheng Liu)
Abstract	A new dynamic model for interconnected rigid bodies is proposed here. The model formulation makes it possible to treat any physical system with finite number of degrees of freedom in a unified framework. This new model is a non minimal realization of the system dynamics since it contains more state variables than is needed. A useful discussion shows how the dimension of the state of this model can be reduced by eliminating the redundancy in the equations of motion, thus obtaining the minimal realization of the system dynamics. With this formulation, we can for the first time explicitly determine the equations of the constraints between different elements of the mechanical system corresponding to the interconnected rigid bodies in question. One of the advantageous coming with this model is that we can use it to demonstrate that Lyapunov stability and control structure for the constrained system can be deducted by projection in the submanifold of movement from appropriate Lyapunov stability and stabilizing control of the corresponding unconstrained system. This procedure is tested by some simulations using the model of two-link planar robot
Starting Page	199
Ending Page	205
File Size	1128110
Page Count	7
File Format	PDF
ISBN	0780385888
DOI	10.1109/ICCCYB.2004.1437707
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-30
Publisher Place	Austria
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Differential equations Lyapunov method Writing Stability analysis State-space methods Kinetic energy Mechanical systems Testing Orbital robotics
Content Type	Text
Resource Type	Article

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