Berger, ThomasThomasBergerDrücker, SvenjaSvenjaDrückerLanza, LukasLukasLanzaReis, TimoTimoReisSeifried, RobertRobertSeifried2021-07-202021-07-202021-05-12Nonlinear Dynamics 104 (4): 3671-3699 (2021-06-01)http://hdl.handle.net/11420/9919We 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.en1573-269X2021436713699Springer Science + Business Media B.Vhttps://creativecommons.org/licenses/by/4.0/Funnel ControlMultibody DynamicsNon-minimum PhaseServo-constraintsUnderactuated SystemsTechnikJournal Article10.15480/882.367110.1007/s11071-021-06458-410.15480/882.3671Journal Article