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  4. Servo-constraints for inversion of underactuated multibody systems
 
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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)
Drücker, Svenja  orcid-logo
Advisor
Seifried, Robert  orcid-logo
Referee
Brüls, Olivier  
Title Granting Institution
Technische Universität Hamburg
Place of Title Granting Institution
Hamburg
Examination Date
2021-12-03
Institut
Mechanik und Meerestechnik M-13  
TORE-DOI
10.15480/882.4089
TORE-URI
http://hdl.handle.net/11420/11463
First published in
MuM notes in mechanics and dynamics  
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
Lizenz
https://creativecommons.org/licenses/by-nc/4.0/
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