Please use this identifier to cite or link to this item: https://doi.org/10.15480/882.3671
Publisher DOI: 10.1007/s11071-021-06458-4
Title: Tracking control for underactuated non-minimum phase multibody systems
Language: English
Authors: Berger, Thomas 
Drücker, Svenja  
Lanza, Lukas 
Reis, Timo 
Seifried, Robert  
Keywords: Funnel Control;Multibody Dynamics;Non-minimum Phase;Servo-constraints;Underactuated Systems
Issue Date: 12-May-2021
Publisher: Springer Science + Business Media B.V
Source: Nonlinear Dynamics 104 (4): 3671-3699 (2021-06-01)
Journal: Nonlinear dynamics 
Abstract (english): 
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.
URI: http://hdl.handle.net/11420/9919
DOI: 10.15480/882.3671
ISSN: 1573-269X
Institute: Mechanik und Meerestechnik M-13 
Document Type: Article
Project: Projekt DEAL 
License: CC BY 4.0 (Attribution) CC BY 4.0 (Attribution)
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