NDLI: On-Line Symbolic Constraint Embedding for Simulation of Hybrid Dynamical Systems

Content Provider	Springer Nature Link
Author	Gillespie, R. Brent Patoglu, Volkan Hussein, Islam I. Westervelt, E. R.
Copyright Year	2005
Abstract	In this paper we present a simulator designed to handle multibody systems with changing constraints, wherein the equations of motion for each of its constraint configurations are formulated in minimal ODE form with constraints embedded before they are passed to an ODE solver. The constraint-embedded equations are formulated symbolically according to a re-combination of terms of the unconstrained equations, and this symbolic process is undertaken on-line by the simulator. Constraint-embedding undertaken on-the-fly enables the simulation of systems with an ODE solver for which constraints are not known prior to simulation start or for which the enumeration of all constraint conditions would be unwieldy because of their complexity or number. Issues of drift associated with DAE solvers that usually require stabilization are sidestepped with the constraint-embedding approach. We apply nomenclature developed for hybrid dynamical systems to describe the system with changing constraints and to distinguish the roles of the forward dynamics solver, a collision detector, and an impact resolver. We have prototyped the simulator in MATLAB and demonstrate the design using three representative examples.
Starting Page	387
Ending Page	417
Page Count	31
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	14
Issue Number	3-4
e-ISSN	1573272X
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	2005-01-01
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	symbolic manipulation changing constraints constraint embedding hybrid dynamical systems 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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