Tracking control for underactuated non-minimum phase multibody systems

We consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of differential-algebraic equations that cannot be reformulated as ordinary differential equations in general. We propose a control strategy which combines a feedforward controller based on the servo-constraints approach with a feedback controller based on a recent funnel control design. As an important tool for both approaches, we present a new procedure to derive the internal dynamics of a multibody system. Furthermore, we present a feasible set of coordinates for the internal dynamics avoiding the effort involved with the computation of the Byrnes–Isidori form. The control design is demonstrated by a simulation for a nonlinear non-minimum phase multi-input, multi-output robotic manipulator with kinematic loop.

Subjects

Funnel Control

Multibody Dynamics

Non-minimum Phase

Servo-constraints

Underactuated Systems

DDC Class

600: Technik

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publishedVersion

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https://creativecommons.org/licenses/by/4.0/

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Berger2021_Article_TrackingControlForUnderactuate.pdf

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970.18 KB

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Tracking control for underactuated non-minimum phase multibody systems