STABILITY OF CONTROLLED MOTION IN DIVING SIMULATIONS

  • Peter Maißner
  • Uwe Jungnickel
Keywords: multibody systems, Lagrange‘s equations, diving simulation, Lyapunov stability, dynamic control

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