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Published in:
General Nonlinear Differential Algebraic Equations and Tracking Problems: A Robotics Example Read chapter Read first chapter

2019 | OriginalPaper | Chapter

DAE Aspects in Vehicle Dynamics and Mobile Robotics

Authors : Michael Burger, Matthias Gerdts

Published in: Applications of Differential-Algebraic Equations: Examples and Benchmarks

Publisher: Springer International Publishing

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Abstract

The paper presents and discusses prototype applications occurring in path planning tasks for mobile robots and vehicle dynamics which involve differential-algebraic equations (DAEs). The focus is on modeling aspects and issues arising from the DAE formulation such as hidden constraints, determination of algebraic states, and consistency. The first part of the paper provides a general summary on modeling issues with DAEs while the second part discusses specific prototype applications in depth and presents numerical examples for selected examples arising in control tasks in robotics and vehicle dynamics.

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previous chapter General Nonlinear Differential Algebraic Equations and Tracking Problems: A Robotics Example
next chapter Open-Loop Control of Underactuated Mechanical Systems Using Servo-Constraints: Analysis and Some Examples
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Metadata
Title
DAE Aspects in Vehicle Dynamics and Mobile Robotics
Authors
Michael Burger
Matthias Gerdts
Copyright Year
2019
Book
Applications of Differential-Algebraic Equations: Examples and Benchmarks

Print ISBN: 978-3-030-03717-8

Electronic ISBN: 978-3-030-03718-5

Copyright Year: 2019

DOI
https://doi.org/10.1007/11221_2018_6

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