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Coupling torque, nonlinear friction, and unmodeled dynamics are the main constraints that influence the angular speed precision of the gimbal systems in double gimbal control moment gyros (DGCMGs). This paper explores a novel angular speed tracking control method based on the cascade extended state observer (CESO). The coupling torque, nonlinear friction, and unmodeled dynamics are considered as the...
Physically-based modeling is used in virtual assembly system to improve the feeling of immersion and make the evaluation results convinced. The handling of unilateral constraints is the capstone of modeling physical behaviors. To take advantage of both impulse-based method and analytical method, hybrid scheme for adaptive simulation is presented, where the constraint states can be transited automatically...
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