ON A NEW CONCEPT IN CONTROL TECHNIQUES OF MECHANICAL SYSTEMS

Abstract

In this paper is proposed a new approach for motion control of constrained mechanical systems. The methodology for controlling nonlinear mechanical systems has been inspired by recent results in analytical dynamics which is obtained by Udwadia and Kalaba. 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.