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Acceleration constraints in modeling...

Bajodah, Abdulrahman H.

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Acceleration constraints in modeling and control of nonholonomic systems.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Acceleration constraints in modeling and control of nonholonomic systems./
Author:	Bajodah, Abdulrahman H.
Description:	177 p.
Notes:	Source: Dissertation Abstracts International, Volume: 64-11, Section: B, page: 5616.
Contained By:	Dissertation Abstracts International64-11B.
Subject:	Engineering, Aerospace. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3110386

Acceleration constraints in modeling and control of nonholonomic systems.
Bajodah, Abdulrahman H.

Acceleration constraints in modeling and control of nonholonomic systems. - 177 p.

Source: Dissertation Abstracts International, Volume: 64-11, Section: B, page: 5616.

Thesis (Ph.D.)--Georgia Institute of Technology, 2003.

Acceleration constraints are used to enhance modeling techniques for dynamical systems. In particular, Kane's equations of motion subjected to bilateral constraints, unilateral constraints, and servo-constraints are modified by utilizing acceleration constraints for the purpose of simplifying the equations and increasing their applicability.Subjects--Topical Terms:

1018395
Engineering, Aerospace.

Acceleration constraints in modeling and control of nonholonomic systems.
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100 1 $a Bajodah, Abdulrahman H. $3 1952159
245 1 0 $a Acceleration constraints in modeling and control of nonholonomic systems.
300 $a 177 p.
500 $a Source: Dissertation Abstracts International, Volume: 64-11, Section: B, page: 5616.
500 $a Director: Dewey H. Hodges.
502 $a Thesis (Ph.D.)--Georgia Institute of Technology, 2003.
520 $a Acceleration constraints are used to enhance modeling techniques for dynamical systems. In particular, Kane's equations of motion subjected to bilateral constraints, unilateral constraints, and servo-constraints are modified by utilizing acceleration constraints for the purpose of simplifying the equations and increasing their applicability.
520 $a The tangential properties of Kane's method provide relationships between the holonomic and the nonholonomic partial velocities, and hence allow one to describe nonholonomic generalized active and inertia forces in terms of their holonomic counterparts, i.e., those which correspond to the system without constraints. Therefore, based on the modeling process objectives, the holonomic and the nonholonomic vector entities in Kane's approach are used interchangeably to model holonomic and nonholonomic systems. When the holonomic partial velocities are used to model nonholonomic systems, the resulting models are full-order (also called nonminimal or unreduced) and separated in accelerations. As a consequence, they are readily integrable and can be used for generic system analysis. Other related topics are constraint forces, numerical stability of the nonminimal equations of motion, and numerical constraint stabilization.
520 $a Two types of unilateral constraints considered are impulsive and friction constraints. Impulsive constraints are modeled by means of a continuous-in-velocities and impulse-momentum approaches.
520 $a In controlled motion, the acceleration form of constraints is utilized with the Moore-Penrose generalized inverse of the corresponding constraint matrix to solve for the inverse dynamics of servo-constraints, and for the redundancy resolution of overactuated manipulators. If control variables are involved in the algebraic constraint equations, then these tools are used to modify the controlled equations of motion in order to facilitate control system design. An illustrative example of spacecraft stabilization is presented.
590 $a School code: 0078.
650 4 $a Engineering, Aerospace. $3 1018395
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Applied Mechanics. $3 1018410
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690 $a 0548
690 $a 0346
710 2 0 $a Georgia Institute of Technology. $3 696730
773 0 $t Dissertation Abstracts International $g 64-11B.
790 1 0 $a Hodges, Dewey H., $e advisor
790 $a 0078
791 $a Ph.D.
792 $a 2003
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3110386