Applying the Lagrange method to solve problems of control constraints

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作者：
Faculty of Aerospace Engineering, Technion-Israel Institute of Technology, Haifa 32000, Israel [1 ]
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来源：
J Appl Mech Trans ASME | / 4卷 / 1013-1015期
关键词：
Constraint theory - Lagrange multipliers - Mathematical models - Problem solving - Variational techniques;
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摘要：
A formulation of the Lagrange method for constrained dynamics was presented. The model represents a consistent variational method and offers a unified approach to holonomic and nonholonomic constraints. The model offers a straightforward direct solution of the problem of control constraints, it preserves the direct physical interpretation of the constraints, and can deal with constraints that are nonlinear in the velocities and dependent on accelerations as well.
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