NDLI: Applications of Lie Group Theory to the Modeling and Control of Multibody Systems

Content Provider	Springer Nature Link
Author	Mladeva, Clementina D.
Copyright Year	1999
Abstract	This paper reviews our research activities concerning the modeling and control of rigid and elastic joint multibody mechanical systems, including some investigations into nonholonomic systems.Bearing in mind the different parameterizations of the rotation group in three-dimensional space SO(3), and the fact that the properties of the parameterization more or less influence the efficiency of the dynamics model, here the so-called vector parameter is used for parallel considerations of rigid body motion and of rigid and elastic joint multibody mechanical systems. Besides the fundamental role of this study, the vector-parameter approach is efficient in its computational aspect and quite convenient for real time simulation and control. The consideration of the mechanical system on the configuration space of pure vector parameters with a group structure opens the possibilities for the Lie group theory to be applied in problems of dynamics and control.
Starting Page	367
Ending Page	380
Page Count	14
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	3
Issue Number	4
e-ISSN	1573272X
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	1999-01-01
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Optimization Vibration, Dynamical Systems, Control Mechanical Engineering Automotive and Aerospace Engineering, Traffic Electronic and Computer Engineering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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