scholarly journals Reduced Order Modeling for Prediction and Control of Large-Scale Systems.

2014 ◽  
Author(s):  
Irina Kalashnikova ◽  
Srinivasan Arunajatesan ◽  
Matthew Franklin Barone ◽  
Bart Gustaaf van Bloemen Waanders ◽  
Jeffrey A. Fike
Keyword(s):  
Large Scale ◽  
Reduced Order Modeling ◽  
Large Scale Systems ◽  
Reduced Order ◽  
Prediction And Control ◽  
And Control

The Skew-Symmetric Property of the Newton-Euler Formulation for Constrained Multibody Systems

1996 ◽  
Author(s):  
Hong-Chin Lin ◽  
Tsung-Chieh Lin ◽  
KwangHae H. Yae
Keyword(s):  
Special Form ◽  
Multibody Systems ◽  
Large Scale ◽  
Computational Analysis ◽  
Necessary Condition ◽  
Large Scale Systems ◽  
Lagrange Formulation ◽  
Dynamics Simulations ◽  
And Control ◽  
Symmetric Property

Abstract This paper proposes a special form of the recursive Newton-Euler formulation that satisfies the skew-symmetric property, which is a necessary condition to ensure global convergence in a class of regressor-based identification and adaptive control (Slotine, 1987a & 1987b; Craig, 1987). For general multibody systems, such a special form has been developed in a reduced Euler-Lagrange formulation, but not in the Newton-Euler formulation, which has been very popular in the computational analysis of large scale systems. The paper successfully constructs a pair of inertia and Coriolis-centrifugal matrices for a “skew-symmetric” recursive Newton-Euler formulation, which can be used in both dynamics simulations and control applications.

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