Tracking control for underactuated non-minimum phase multibody systems

T. Berger, S. Drücker, L.J. Lanza, T. Reis, R. Seifried, Nonlinear Dynamics (2021).

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Journal Article | Published | English
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<jats:title>Abstract</jats:title><jats:p>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.</jats:p>
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Nonlinear Dynamics
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Berger T, Drücker S, Lanza LJ, Reis T, Seifried R. Tracking control for underactuated non-minimum phase multibody systems. Nonlinear Dynamics. 2021. doi:10.1007/s11071-021-06458-4
Berger, T., Drücker, S., Lanza, L. J., Reis, T., & Seifried, R. (2021). Tracking control for underactuated non-minimum phase multibody systems. Nonlinear Dynamics. https://doi.org/10.1007/s11071-021-06458-4
@article{Berger_Drücker_Lanza_Reis_Seifried_2021, title={Tracking control for underactuated non-minimum phase multibody systems}, DOI={10.1007/s11071-021-06458-4}, journal={Nonlinear Dynamics}, author={Berger, Thomas and Drücker, Svenja and Lanza, Lukas Johannes and Reis, Timo and Seifried, Robert}, year={2021} }
Berger, Thomas, Svenja Drücker, Lukas Johannes Lanza, Timo Reis, and Robert Seifried. “Tracking Control for Underactuated Non-Minimum Phase Multibody Systems.” Nonlinear Dynamics, 2021. https://doi.org/10.1007/s11071-021-06458-4.
T. Berger, S. Drücker, L. J. Lanza, T. Reis, and R. Seifried, “Tracking control for underactuated non-minimum phase multibody systems,” Nonlinear Dynamics, 2021.
Berger, Thomas, et al. “Tracking Control for Underactuated Non-Minimum Phase Multibody Systems.” Nonlinear Dynamics, 2021, doi:10.1007/s11071-021-06458-4.

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