STABILITY OF CONTROLLED MOTION IN DIVING SIMULATIONS

Peter Maißner; Uwe Jungnickel

STABILITY OF CONTROLLED MOTION IN DIVING SIMULATIONS

##article.authors##

Peter Maißner
Uwe Jungnickel

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multibody systems##common.commaListSeparator## Lagrange‘s equations##common.commaListSeparator## diving simulation##common.commaListSeparator## Lyapunov stability##common.commaListSeparator## dynamic control

##article.abstract##

The twisting somersault motion of a diver in free flight is simulated using a standard man model modelled by an anthropomorphic multibody system of rigid segments (MBS). That man model is originated by Saziorski [1]. The key point for this purpose is a Lyapunov-stable dynamic control of the MBS. This method is a generalization of the augmented PD control law known from nonlinear control theory in robotics, see [2]. Strategies how to find control laws are used such that an MBS with degree of freedom n is moving on an m-dimensional submanifold, 0