Please use this identifier to cite or link to this item:
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.
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)
Appears in Collections:Publications with fulltext

Files in This Item:
File Description SizeFormat
Berger2021_Article_TrackingControlForUnderactuate.pdfVerlags-PDF970,18 kBAdobe PDFView/Open
Show full item record

Page view(s)

Last Week
Last month
checked on Aug 4, 2021


checked on Aug 4, 2021

Google ScholarTM


Note about this record

Cite this record


This item is licensed under a Creative Commons License Creative Commons