Impulsive synchronization motion in networked open-loop multibody systems

• Published in: Multibody system dynamics Vol. 30; no. 1; pp. 37 - 52
• Main Authors: Wu, Xing-Jie, Zhou, Jin, Xiang, Lan, Lin, Chun-Nan, Zhang, Hua
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.06.2013
• Subjects: Automotive Engineering; Control; Dynamical Systems; Electrical Engineering; Engineering; Mechanical Engineering; Optimization; Vibration; Networked open-loop multibody systems; Lagrange dynamics; Synchronization motion; Cooperative control; Impulsive constraints
• ISSN: 1384-5640; 1573-272X
• DOI: 10.1007/s11044-012-9340-9

This paper presents a procedure for studying impulsive synchronization motion in networked open-loop multibody systems formulated by Lagrange dynamics. Impulsive motion occurs when the networked systems are physically subject to either direct or indirect impulsive effects, or when subjected to both simultaneously. The impulsive effects are usually caused by impulsive forces or impulsive constraints. The governing equations of networked open-loop multibody systems are developed from Lagrange formulation. The procedure automatically incorporates a preliminary feedback control and the effects of impulsive constraints through its analysis. Some generic criteria on exponential synchronization of the system output with respect to generalized coordinates and its velocities over, respectively, undirected fixed and switching network topologies, are derived analytically. The procedure shows that impulsive synchronization motion in networked open-loop multibody systems can achieve by impulsive constraints strategies. Two examples and simulations are used to demonstrate and validate the analysis procedure.