GIM을 사용한 Holonomic과 Nonholonomic 시스템의 동적 거동 및 제어

Dynamics and Control of Holonomic & Nonholonomic System Using GIM

There have been many studies to control holonomic and/or nonholonomic systems, and nonlinear control problems. However, their approaches require complicated intermediate procedures. Using the Generalized Inverse Method derived by Udwadia and Kalaba in 1992, this study provides two applications to the control of holonomically and/or nonholonomically constrained systems. These applications illustrate the ease with which the equation by the Generalized Inverse Method can be utilized for the purpose of (a) control of highly nonlinear systems without depending on any linearization, (b) maintaining precision tracking motions with the presence of known disturbances, and (c) explicit determination of control forces under the circumstances (a) and (b).