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

作　　者：ZhaoWeijia PanZhenkuan ChenLiqun 

机构地区：[1]DepartmentofMathematics,QingdaoUniversity,Qingdao266071,China [2]ShanghaiInstituteofAppliedMathematicsandMechanics,Shanghai200072,China

出　　处：《Acta Mechanica Solida Sinica》2004年第1期45-51,共7页固体力学学报（英文版）

基　　金：Project supported by the National Natural Science Foundation of China (No. 19902006).

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.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.

关 键 词：Euler-Lagrange equation nonholonomic constraint constraint violation stabiliza- tion redundant constraint 

分 类 号：O411.1[理学—理论物理]