DAE Aspects in Vehicle Dynamics and Mobile Robotics
Titel Sammlung:
Applications of Differential-Algebraic Equations
Untertitel Sammlung:
Examples and Benchmarks
Herausgeber Sammlung:
Campbell, Stephen; Ilchmann, Achim; Mehrmann, Volker; Reis, Timo
Reihentitel:
Differential-Algebraic Equations Forum
Verlagsort:
Cham
Verlag:
Springer International Publishing
Jahr:
2018
Seiten von - bis:
37-80
Sprache:
Englisch
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. «
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... »