Hardware-In-the-Loop test rigs are more and more used to develop and/or improve modern control units. Due to the increasing complexity of these systems detailed vehicle models running in real-time are required. The main task in real time applications is to achieve a stable but still sufficiently accurate numerical solution under all operating conditions. Complex vehicles modeled by multi body systems result in stiff differential equations. In particular, taking into account the effects of dry friction requires sophisticated modeling techniques and simple but robust numerical solvers.
Smoothing discontinuities in the Jacobian matrix by global derivatives
2010
9 Seiten, 6 Bilder, 10 Quellen
Conference paper
English
Inversion Of Jacobian Matrix For Robot Manipulators
NTRS | 1989
|AIAA | 1986
|Wiley | 2021
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