On general nonlinear constrained mechanical systems
نویسندگان
چکیده
منابع مشابه
On General Nonlinear Constrained Mechanical Systems
This paper develops a new, simple, general, and explicit form of the equations of motion for general constrained mechanical systems that can have holonomic and/or nonholonomic constraints that may or may not be ideal, and that may contain either positive semi-definite or positive definite mass matrices. This is done through the replacement of the actual unconstrained mechanical system, which ma...
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This work deals with modeling and tracking of mechanical systems which are given as kinematic chains with restricted degrees of freedom. Such systems may involve many joints, but due to additional restrictions or mechanical properties the joints depend on each other. So-called closed-chain or parallel manipulators are examples for kinematic chains with additional constraints. Though the degrees...
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When solving the general smooth nonlinear optimization problem involving equality and/or inequality constraints, an approximate first-order critical point of accuracy ǫ can be obtained by a second-order method using cubic regularization in at most O(ǫ) problem-functions evaluations, the same order bound as in the unconstrained case. This result is obtained by first showing that the same result ...
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In the linear system Ax = b the points x are sometimes constrained to lie in a given subspace S of column space of A. Drazin inverse for any singular or nonsingular matrix, exist and is unique. In this paper, the singular consistent or inconsistent constrained linear systems are introduced and the effect of Drazin inverse in solving such systems is investigated. Constrained linear system arise ...
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This paper seems to be a comparison study of some state estimation filters applied to nonlinear systems with equality constraints satisfied by the state. The paper is not self-contained, with cursory development of presented results and lacking detailed analysis. Notation is used without being introduced first. This makes the paper very unreadable even without the spelling errors and typos. It ...
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ژورنال
عنوان ژورنال: Numerical Algebra, Control and Optimization
سال: 2013
ISSN: 2155-3289
DOI: 10.3934/naco.2013.3.425