TY - GEN
T1 - Simulation of constrained dynamic multibody systems using sliding mode control theory
AU - Rao, Sachit
AU - Utkin, Vadim
AU - Buss, Martin
PY - 2008
Y1 - 2008
N2 - The main object of study, a constrained dynamic multibody system, describes a large variety of real-life engineering scenarios, to name a few: robotics; distributed parameter systems; large electric circuits etc. A technique to simulate such a system is developed using the fundamental results of sliding mode control theory (SMCT). Particular attention is paid to mechanical and electrical distributed processes. By representing the system as a set of differential-algebraic equations (DAE), the simulation may be easily carried out without having to solve the (DAE). This forms the main motivation for the results established in this paper.
AB - The main object of study, a constrained dynamic multibody system, describes a large variety of real-life engineering scenarios, to name a few: robotics; distributed parameter systems; large electric circuits etc. A technique to simulate such a system is developed using the fundamental results of sliding mode control theory (SMCT). Particular attention is paid to mechanical and electrical distributed processes. By representing the system as a set of differential-algebraic equations (DAE), the simulation may be easily carried out without having to solve the (DAE). This forms the main motivation for the results established in this paper.
UR - http://www.scopus.com/inward/record.url?scp=52049110553&partnerID=8YFLogxK
U2 - 10.1109/VSS.2008.4570674
DO - 10.1109/VSS.2008.4570674
M3 - Conference contribution
AN - SCOPUS:52049110553
SN - 9781424422005
T3 - IEEE 10th International Workshop on Variable Structure Systems, VSS'08
SP - 7
EP - 12
BT - IEEE 10th International Workshop on Variable Structure Systems, VSS'08
T2 - IEEE 10th International Workshop on Variable Structure Systems, VSS'08
Y2 - 8 June 2008 through 10 June 2008
ER -