Kinematic Analysis and Inverse Dynamics-based Control of Nondeterministic Multibody Systems

Persistent Link:
http://hdl.handle.net/10150/620728
Title:
Kinematic Analysis and Inverse Dynamics-based Control of Nondeterministic Multibody Systems
Author:
Sabet, Sahand
Issue Date:
2016
Publisher:
The University of Arizona.
Rights:
Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
Abstract:
Multibody dynamics plays the key role in the modeling, simulation, design, and control of many engineering problems. In practice, such problems may be encountered with the existence of uncertainty in the system's parameters and/or excitations. As the complexity of these problems in terms of the number of the bodies and kinematic loops (chains) increases, the effect of uncertainty in the system becomes even more significant due to the accumulation of inaccuracies. Therefore, considering uncertainty is inarguably a crucial aspect of performance analysis of a multibody problem. In fact, uncertainty needs to be propagated to the system kinematics and dynamics for the better understanding of the system behavior. This will significantly affect the design and control process of such systems. For this reason, this research presents a detailed investigation on the use of the Polynomial Chaos Expansion (PCE) method for both control and kinematic analysis of nondeterministic multibody systems.
Type:
text; Electronic Thesis
Keywords:
Kinematic Analysis of Nondeterministic Systems; Mechanical Engineering; Control of Nondeterministic Systems
Degree Name:
M.S.
Degree Level:
masters
Degree Program:
Graduate College; Mechanical Engineering
Degree Grantor:
University of Arizona
Advisor:
Poursina, Mohammad

Full metadata record

DC FieldValue Language
dc.language.isoen_USen
dc.titleKinematic Analysis and Inverse Dynamics-based Control of Nondeterministic Multibody Systemsen_US
dc.creatorSabet, Sahanden
dc.contributor.authorSabet, Sahanden
dc.date.issued2016-
dc.publisherThe University of Arizona.en
dc.rightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.en
dc.description.abstractMultibody dynamics plays the key role in the modeling, simulation, design, and control of many engineering problems. In practice, such problems may be encountered with the existence of uncertainty in the system's parameters and/or excitations. As the complexity of these problems in terms of the number of the bodies and kinematic loops (chains) increases, the effect of uncertainty in the system becomes even more significant due to the accumulation of inaccuracies. Therefore, considering uncertainty is inarguably a crucial aspect of performance analysis of a multibody problem. In fact, uncertainty needs to be propagated to the system kinematics and dynamics for the better understanding of the system behavior. This will significantly affect the design and control process of such systems. For this reason, this research presents a detailed investigation on the use of the Polynomial Chaos Expansion (PCE) method for both control and kinematic analysis of nondeterministic multibody systems.en
dc.typetexten
dc.typeElectronic Thesisen
dc.subjectKinematic Analysis of Nondeterministic Systemsen
dc.subjectMechanical Engineeringen
dc.subjectControl of Nondeterministic Systemsen
thesis.degree.nameM.S.en
thesis.degree.levelmastersen
thesis.degree.disciplineGraduate Collegeen
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.grantorUniversity of Arizonaen
dc.contributor.advisorPoursina, Mohammaden
dc.contributor.committeememberNikravesh, Parviz E.en
dc.contributor.committeememberGaylor, Daviden
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