Large-Scale Systems: Modeling and Control

1983 ◽  
Vol 34 (10) ◽  
pp. 1016
Author(s):  
John R. Beaumont ◽  
M. Jamshidi
Keyword(s):  
Large Scale ◽  
Systems Modeling ◽  
Modeling And Control ◽  
Large Scale Systems ◽  
And Control

The Skew-Symmetric Property of the Newton-Euler Formulation for Constrained Multibody Systems

1996 ◽  
Author(s):  
Hong-Chin Lin ◽  
Tsung-Chieh Lin ◽  
KwangHae H. Yae
Keyword(s):  
Special Form ◽  
Multibody Systems ◽  
Large Scale ◽  
Computational Analysis ◽  
Necessary Condition ◽  
Large Scale Systems ◽  
Lagrange Formulation ◽  
Dynamics Simulations ◽  
And Control ◽  
Symmetric Property

Abstract This paper proposes a special form of the recursive Newton-Euler formulation that satisfies the skew-symmetric property, which is a necessary condition to ensure global convergence in a class of regressor-based identification and adaptive control (Slotine, 1987a & 1987b; Craig, 1987). For general multibody systems, such a special form has been developed in a reduced Euler-Lagrange formulation, but not in the Newton-Euler formulation, which has been very popular in the computational analysis of large scale systems. The paper successfully constructs a pair of inertia and Coriolis-centrifugal matrices for a “skew-symmetric” recursive Newton-Euler formulation, which can be used in both dynamics simulations and control applications.

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