Imperial College London
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DrGiordanoScarciotti

Faculty of Engineering, Department of Electrical and Electronic Engineering

Senior Lecturer
 
 
 
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Contact

 

+44 (0)20 7594 6268g.scarciotti Website

 
 
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Location

 

1118Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Di:2018,
author = {Di, Franco P and Scarciotti, G and Astolfi, A},
publisher = {IEEE},
title = {A globally stable convergent algorithm for the integration of constrained mechanical systems},
url = {http://hdl.handle.net/10044/1/57664},
year = {2018}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - In  this  paper  the  problem  of  simulation  of  con-strained  mechanical  systems  is  addressed.  In  modeling  multi-body  mechanical  systems,  the  Lagrange  formulation  producesa redundant set of differential-algebraic equations, the integra-tion  of  which  can  lead  to  several  difficulties,  for  example  thedrift  of  the  “constraint  violation”.  One  of  the  most  popularapproaches  to  alleviate  this  issue  is  the  so-called  Baumgarte’smethod   that   relies   on   a   linear   feedback   mechanism.   Thismethod   can   however   lead   to   numerical   instabilities   whenapplied  to  nonlinear  (mechanical)  systems.  The  objective  ofthis  study  is  to  propose  a  new  method  that  ensures  existenceof  solutions  and  makes  the  constraint  manifold  asymptoticallyattractive. The proposed technique is illustrated by means of asimple  example.
AU  - Di,Franco P
AU  - Scarciotti,G
AU  - Astolfi,A
PB  - IEEE
PY  - 2018///
TI  - A globally stable convergent algorithm for the integration of constrained mechanical systems
UR  - http://hdl.handle.net/10044/1/57664
ER  -
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