Constrained mechanical systems modeling and control: A free-floating space manipulator case as a multi-constrained system

The paper presents a development of a modeling framework for constrained multibody systems, for which constraints may arise either as kinematic, task-based, design, control or origin from conservation laws. The framework is control oriented since its dynamic modules yield nonlinear system dynamics in reduced state forms, i.e., ready to employ control algorithms. It encompasses systems subjected to any equality first order constraints and in this regard it unifies modeling for control applications. The framework properties support numerical computation and simulation studies for nonlinear system models due to the dynamic modeling unification and the reduction procedure built into it. The framework application is illustrated by an example of dynamics modeling and designing a tracking controller for a free-floating space manipulator, which is underactuated, subjected to conservation laws and task-based constraints.