摘要
Huston矩阵形式的多体系统动力学描述兼有力法和能量法的特点 ,可直接应用 Lyapunov稳定性理论对其描述的系统进行分析。Huston方法较之 Lagrange能量方法的分析过程简单 ,无需求混合偏导数 ,有形式简单、直观、规范的特点。
The position control method based on inverse dynamics is actually a kind of the active control method which obtains the desired stiffness properties of the system through the input of the outer energy. The description of the matrix form of Huston's multibody system dynamics has both the property of force method and that of energy method.Lyapunov's stability theory can be used to analyse the system described by it. The research results show that Huston's method is simple in comparison with that of Lagrangian energy method. It is unnecessary to find the mixed partial differentials and has the simplicity of form, and normalization property. Experiments are completed to show the accuracy and the effectiveness of this control method.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2000年第6期647-649,共3页
China Mechanical Engineering
基金
国家自然科学基金资助项目!(595750 2 6)
清华大学智能技术与系统国家重点实验室开放课题资助项目 !(0 0 0 0 4 )
关键词
多体系统动力学
逆动力学
主动控制
稳定性
multibody system dynamics active control stability inverse dynamics stability
