Combined DAE and Sliding Mode Control Methods for Simulation of Constrained Mechanical Systems

[+] Author and Article Information
M. D. Compere, R. G. Longoria

Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX 78712

J. Dyn. Sys., Meas., Control 122(4), 691-698 (Feb 09, 2000) (8 pages) doi:10.1115/1.1320450 History: Received February 09, 2000
Copyright © 2000 by ASME
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Compound pendulum described by an ODE
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This trace is representative of all three solutions. Note, ωn=3g/2l for small angle motion.
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Time intervals of stabilization methods
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Example of how DAE post-stabilization can exceed physically realistic adjustment in x
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SMC forces constraints to satisfaction given inconsistent ICs
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This trace is representative of all three solutions.
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The states satisfy the constraints and switching surfaces very well but have physically incorrect trajectories
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Given consistent ICs, post-stabilization is used over [tinitial tfinal]
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Given inconsistent ICs, SMC’s urobust,i drives the constraints to satisfaction




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