A hallmark of multibody dynamics is that most formulations involve a number of constraints.
Typically, when redundant generalized coordinates are used, equations of motion are …

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There are many achievements in the field of analytical mechanics, such as Lagrange
Equation, Hamilton's Principle, Kane's Equation. Compared to Newton–Euler mechanics …

Quadrotor aircraft are drawing considerable attention for their high mobility and capacity to
perform tasks with complete autonomy, while minimizing the costs and risks involved with …

Based on recent results from analytical dynamics, this paper develops a class of tracking
controllers for controlling general, nonlinear, structural and mechanical systems. Unlike most …

We formulate control problems of mechanical systems as constraint following. The system
contains uncertainty which is (possibly fast) time-varying. It is unknown but bounded. The …

Abstract The Moore–Penrose inverse celebrated its 100th birthday in 2020, as the notion
standing behind the term was first defined by Eliakim Hastings Moore in 1920 (Bull Am Math …

This paper presents a novel control and planning algorithm for cooperative slung-load
transportation using multiple quadrotors. Each aerial robot modeled as a quadrotor is …

Udwadia–Kalaba approach which presents a new, general and explicit equation of motion
for constrained mechanical systems with holonomic or nonholonomic constraints is applied …

This study investigates the formation planning problem of tethered multirotor unmanned
aerial vehicle (UAV) cooperative transportation with unknown payload and cable length …