scholarly journals Modeling dynamic systems of variable structure

1984 ◽  
pp. 755-764
Author(s):  
Alexander Umnov
Keyword(s):  
Dynamic Systems ◽  
Variable Structure

Optimal Trajectories and Controls for Systems of Coupled Rigid Bodies

1972 ◽  
Vol 94 (2) ◽  
pp. 472-482 ◽  
Author(s):  
M. Townsend ◽  
A. Seireg
Keyword(s):  
Mathematical Programming ◽  
Dynamic Systems ◽  
Variable Structure ◽  
Rigid Bodies ◽  
Programming Method ◽  
Optimal Trajectories ◽  
Animal Locomotion ◽  
Mathematical Programming Method ◽  
Internal Forces ◽  
Relative Motions

This paper presents a mathematical programming method for the performance synthesis of dynamic systems modelled by coupled rigid bodies. A technique is given for the decomposition and efficient evaluation of the trajectories and internal forces (controls) which cause a system to optimally perform tasks which may include cyclic relative motions between the bodies. The technique is useful for the synthesis of variable structure devices such as robots and all-terrain vehicles, and for the analysis of human and animal locomotion.

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