ON A NEW APPROACH TO MOTION CONTROL OF CONSTRAINED MECHANICAL SYSTEMS

Abstract

In this paper is proposed a new approach for motion control of constrained mechanical systems. One of the aims of this paper is to introduce to the motion control design community in this new and novel approach which is simple yet extremely useful. The general approach of controlling complex multi-body systems was first developed by Udwadia (2002 & 2003). The Udwadia-Kalaba’s equations of motion are more adequate to model constrained mechanical systems rather than the Lagrange’s equations of motion at least for control purpose. The proposed approach covers most of constraints including holonomic and nonholonomic constraints.