Constraint-Monitoring Estimation Strategies for Dynamic Systems Subject to Equality Constraints
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There exist several estimation strategies for systems in which the constraints are not broken. For example, the constraint can be eliminated from the dynamic equations using a variety of methods, such as employing Lagrange multipliers or quasi velocities. Though the projected constrained state estimates were significantly more accurate than the unconstrained estimates, the errors associated with the constrained estimates were up to two orders of magnitude greater than those of the two methods presented here. It is straightforward to constraint monitor when a 'catastrophic' constraint violation has occurred, such as the snapping of a tether that constrains motion between otherwise independent dynamic systems, such as in tethered satellite systems.
