| Title |
A Study on Comparison of Generalized Inverse Method and Other Methods For System Control |
| Abstract |
There have been many attempts for determining the motion and control force of constrained mechanical and structural systems since Lagrange in 1797. Recently, Udwadia and Kalabe present a new method, which is called Generalized Inverse Method. The Generalized Inverse Method provides an explicit and simple equation of motion for constrained systems. A main objective of this paper is to illustrate that the Generalized Inverse Method is more simply employed one than most of the commonly used methods. For this, several methods describing constrained motion are introduced and are applied to anonholonomic system. And the analytical and numerical results which are obtained by those methods are compared. Also, the application highlights the advantages and disadvantages that these methods have. |