The paper addresses a dynamics modeling method dedicated to control design for constrained mechanical systems. The constraints may be material, control or task based, provided that they are specified by algebraic or differential equations. Theoretical analytical and control developments are related to control acceleration and jerk for car-like vehicles. In vehicle dynamics design and control, jerk and acceleration limits are control objectives related to passenger comfort and vehicle performance. Usually, their profiles are assessed experimentally and then incorporated into vehicle controllers. The paper presents a control strategy, which enables specifying desired profiles of acceleration and jerk by constraint equations.
Jarzȩbowska, E. M. (2016). Analytical Dynamics Based Strategy for Acceleration Control of a Car-like Vehicle Motion. In Procedia IUTAM (Vol. 19, pp. 228–235). Elsevier B.V. https://doi.org/10.1016/j.piutam.2016.03.029