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A general on-the-fly algorithm for modifying the kinematic tree hierarchy

Jakub Stępień; Andrzej Polański; Konrad Wojciechowski — 2012

International Journal of Applied Mathematics and Computer Science

When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing...

Robust quasi NID aircraft 3D flight control under sensor noise

Marian J. Błachuta; Valery D. Yurkevich; Konrad Wojciechowski — 1999

Kybernetika

In the paper the design of an aircraft motion controller based on the Dynamic Contraction Method is presented. The control task is formulated as a tracking problem for Euler angles, where the desired decoupled output transients are accomplished under assumption of high-level, high-frequency sensor noise and incomplete information about varying parameters of the system and external disturbances. The resulting controller has a simple form of a combination of a low-order linear dynamical system and...

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