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  4. Trajectory-tracking control from a multibody system dynamics perspective
 
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Trajectory-tracking control from a multibody system dynamics perspective

Citation Link: https://doi.org/10.15480/882.4851
Publikationstyp
Journal Article
Date Issued
2023-01-11
Sprache
English
Author(s)
Drücker, Svenja  orcid-logo
Seifried, Robert  orcid-logo
Institut
Mechanik und Meerestechnik M-13  
TORE-DOI
10.15480/882.4851
TORE-URI
http://hdl.handle.net/11420/14552
Journal
Multibody system dynamics  
Volume
58
Start Page
341
End Page
363
Citation
Multibody System Dynamics 58: 341-363 (2023)
Publisher DOI
10.1007/s11044-022-09870-9
Scopus ID
2-s2.0-85146351602
Publisher
Springer Science + Business Media B.V
Peer Reviewed
true
The development of modern mechatronic systems is often driven by the desire for more efficiency and accuracy. These requirements not only result in more complex system designs, but also in the simultaneous development of improved control strategies. Therefore, control of multibody systems is an active field of research. This contribution gives an overview of recent control-related research from the perspective of the multibody dynamics community. A literature review of the research activity in the journal Multibody System Dynamics is given. Afterwards, the framework of servo-constraints is reviewed, since it is a powerful tool for the computation of a feedforward controller and it is directly developed in the multibody system dynamics community. Thereby, solution strategies for all possible system types, such as differentially flat systems, minimum phase and non-minimum phase systems are discussed. Selected experimental and simulation results are shown to support the theoretical results.
DDC Class
600: Technik
620: Ingenieurwissenschaften
Funding(s)
Echtzeitfähige Modellinversion unteraktuierter Mehrkörpersysteme mittels Servo-Bindungen  
Projekt DEAL  
Publication version
publishedVersion
Lizenz
https://creativecommons.org/licenses/by/4.0/
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