Differential algebraic equation

Singular systems of differential equations as dynamic models for constrained robot systems

N. Harris McClamroch

Citations: 243 • 1986

Stabilization of Constrained Mechanical Systems with DAEs and Invariant Manifolds

Uri M. Ascher, Hongsheng Chin, Linda Petzold, Sebastian Reich

Citations: 143 • 1995

Solvability of General Differential Algebraic Equations

Stephen L. Campbell, E. Griepentrog

Citations: 138 • 1995

Tracking in nonlinear differential-algebraic control systems with applications to constrained robot systems

Hariharan Krishnan, N. Harris McClamroch

Citations: 106 • 1994

A singular perturbation approach to modeling and control of manipulators constrained by a stiff environment

N. Harris McClamroch

Citations: 56 • 2003

A new approach to position and contact force regulation in constrained robot systems

Hariharan Krishnan, N. Harris McClamroch

Citations: 40 • 2002

Optimal control of causal differential–algebraic systems

Tomáš Roubı́ček, Michael Valášek

Citations: 27 • 2002

Recent developments in the numerical solution of differential/algebraic systems

Linda Petzold

Citations: 24 • 1989

Dynamic Modeling and Simulation of Flexible Robots With Prismatic Joints

Ye-Chen Pan, R.A. Scott, A. Galip Ulsoy

Citations: 23 • 1990

Solving algebraic systems using matrix computations

Dinesh Manocha, Shankar Krishnan

Citations: 22 • 1996

Multi-Mode DAE Models - Challenges, Theory and Implementation

Albert Benveniste, Benoı̂t Caillaud, Hilding Elmqvist, Khalil Ghorbal, Martin Otter, Marc Pouzet

Citations: 21 • 2019

Aspects of Efficient and Reliable Multibody System Simulation

R. Schwertassek, W. Rulka

Citations: 21 • 1990

Algebraic methods for computing inverse kinematics

Sabine Stifter

Citations: 20 • 1994

Control of Closed Kinematic Chains Using A Singularly Perturbed Dynamics Model

Zhiyong Wang, Fathi H. Ghorbel

Citations: 19 • 2005

Tracking in Control Systems Described by Nonlinear Differential-Algebraic Equations with Applications to Constrained Robot Systems

Hariharan Krishnan, Harris McClamroch

Citations: 18 • 1993

Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot

Oskar von Stryk

Citations: 16 • 2003

Solution of matching equations of IDA-PBC by Pfaffian differential equations

M. Reza J. Harandi, Hamid D. Taghirad

Citations: 14 • 2021

Modeling closed kinematic chains via singular perturbations

James B. Dabney, Fathi H. Ghorbel, Zhiyong Wang

Citations: 10 • 2002

Numerical solution of differential systems with algebraic inequalities arising in robot programming

Raymond J. Spiteri, Uri M. Ascher, Dinesh K. Pai

Citations: 10 • 2002

Mechanism Constraints and Singularities—The Algebraic Formulation

Manfred Husty, Dominic R. Walter

Citations: 10 • 2019