This paper proposes a finite-time trajectory tracking controller for a space manipulator under
model uncertainty, external disturbance, and actuator saturation. The dynamics of space …

The following work is directed towards an evaluation of aircraft that undergo structural shape
change for the purpose of optimized flight and maneuvering control authority. Dynamical …

It is a new design concept to employ control moment gyroscopes (CMGs) as reactionless
actuators for space robots. Such actuation has several noticeable advantages such as weak …

The acceleration form of constraint equations is utilized in this paper to solve for the inverse
dynamics of servo-constraints. A condition for the existence of control forces that enforce …

The Lagrange's equation remains the most used method by researchers to determine the
finite element motion equations in the case of elasto-dynamic analysis of a multibody system …

Hybrid-driven underwater glider (HUG) is a new type of autonomous underwater vehicles
(AUVs). An HUG fleet can extend the ability of individual vehicles and increase mission …

In this study, we present explicit equations of motion for general mechanical systems
exposed to holonomic and nonholonomic constraints based on the Gibbs-Appell …

A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot
in the presence of closed-loop constraints and uncertain inertial parameters of the payload …

Dynamic modeling is a fundamental step in analyzing the movement of any mechanical
system. Methods for dynamical modeling of constrained systems have been widely …

This paper presents a comprehensive recursive formulation of dynamic equations for
multibody systems with variable-speed control moment gyroscopes. It permits any rigid or …