Servo-constraints for inversion of underactuated multibody systems
Citation Link: https://doi.org/10.15480/882.4089
Publikationstyp
Doctoral Thesis
Date Issued
2022
Sprache
English
Author(s)
Advisor
Referee
Title Granting Institution
Technische Universität Hamburg
Place of Title Granting Institution
Hamburg
Examination Date
2021-12-03
Institut
TORE-DOI
First published in
Number in series
5
Citation
MuM notes in mechanics and dynamics 5: (2022)
Accurate inverse models are essential for the control of underactuated multibody systems. The servo-constraints approach is applied here, which formulates the inverse model problem as a set of differential-algebraic equations (DAEs). These DAEs have different properties depending on the system type. In this work, the servo-constraints approach is analyzed for all three possible system types. For differentially flat systems, experimental results demonstrate the real-time capabilities of the approach. For minimum phase systems, various integration methods are compared with respect to efficiency and accuracy. For non-minimum phase systems, a simplification of stable inversion is proposed and an output redefinition strategy is introduced for flexible bodies.
DDC Class
600: Technik
620: Ingenieurwissenschaften