This paper discusses the problem of control constraint realization applied to generic underactuated multibody systems. The conditions for the realization are presented. Focus is placed on the tangent realization of the control constraint. An alternative condition is formulated, based on the practical observation that differential-algebraic equations need to be integrated using implicit algorithms, thus naturally leading to the solution of the problem in form of matrix pencil. The analogy with the representation of linear systems in Laplace’s domain is also discussed. The formulation is applied to the solution of simple, yet illustrative problems, related to rigid and deformable bodies. Some implications of considering deformable continua are addressed.
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e-mail: alessandro.fumagalli@polimi.it
e-mail: pierangelo.masarati@polimi.it
e-mail: marco.morandini@polimi.it
e-mail: paolo.mantegazza@polimi.it
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January 2011
Research Papers
Control Constraint Realization for Multibody Systems
Alessandro Fumagalli,
Alessandro Fumagalli
Dipartimento di Ingegneria Aerospaziale,
e-mail: alessandro.fumagalli@polimi.it
Politecnico di Milano
, Milano 20156, Italy
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Pierangelo Masarati,
Pierangelo Masarati
Dipartimento di Ingegneria Aerospaziale,
e-mail: pierangelo.masarati@polimi.it
Politecnico di Milano
, Milano 20156, Italy
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Marco Morandini,
Marco Morandini
Dipartimento di Ingegneria Aerospaziale,
e-mail: marco.morandini@polimi.it
Politecnico di Milano
, Milano 20156, Italy
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Paolo Mantegazza
Paolo Mantegazza
Dipartimento di Ingegneria Aerospaziale,
e-mail: paolo.mantegazza@polimi.it
Politecnico di Milano
, Milano 20156, Italy
Search for other works by this author on:
Alessandro Fumagalli
Dipartimento di Ingegneria Aerospaziale,
Politecnico di Milano
, Milano 20156, Italye-mail: alessandro.fumagalli@polimi.it
Pierangelo Masarati
Dipartimento di Ingegneria Aerospaziale,
Politecnico di Milano
, Milano 20156, Italye-mail: pierangelo.masarati@polimi.it
Marco Morandini
Dipartimento di Ingegneria Aerospaziale,
Politecnico di Milano
, Milano 20156, Italye-mail: marco.morandini@polimi.it
Paolo Mantegazza
Dipartimento di Ingegneria Aerospaziale,
Politecnico di Milano
, Milano 20156, Italye-mail: paolo.mantegazza@polimi.it
J. Comput. Nonlinear Dynam. Jan 2011, 6(1): 011002 (8 pages)
Published Online: September 27, 2010
Article history
Received:
May 27, 2009
Revised:
November 10, 2009
Online:
September 27, 2010
Published:
September 27, 2010
Citation
Fumagalli, A., Masarati, P., Morandini, M., and Mantegazza, P. (September 27, 2010). "Control Constraint Realization for Multibody Systems." ASME. J. Comput. Nonlinear Dynam. January 2011; 6(1): 011002. https://doi.org/10.1115/1.4002087
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