CONSTRAINT VIOLATION STABILIZATION OF EULER-LAGRANGE EQUATIONS WITH NON-HOLONOMIC CONSTRAINTS

摘要

Two constraint violation stabilization methods are presented to solve the Euler-Lagrange equations of motion of a multibody system with nonholonomic constraints. Compared to the previous works, the newly devised methods can deal with more complicated problems such as those with nonholonomic constraints or redundant constraints, and save the computation time. Finally a numerical simulation of a multibody system is conducted by using the methods given in this paper.