{"type":"journal_article","date_created":"2021-05-17T05:24:00Z","title":"Tracking control for underactuated non-minimum phase multibody systems","publication":"Nonlinear Dynamics","author":[{"first_name":"Thomas","last_name":"Berger","full_name":"Berger, Thomas"},{"full_name":"Drücker, Svenja","last_name":"Drücker","first_name":"Svenja"},{"full_name":"Lanza, Lukas Johannes","last_name":"Lanza","first_name":"Lukas Johannes","id":"78640"},{"first_name":"Timo","full_name":"Reis, Timo","last_name":"Reis"},{"first_name":"Robert","full_name":"Seifried, Robert","last_name":"Seifried"}],"status":"public","date_updated":"2022-01-06T06:55:29Z","publication_status":"published","year":"2021","_id":"22206","publication_identifier":{"issn":["0924-090X","1573-269X"]},"language":[{"iso":"eng"}],"doi":"10.1007/s11071-021-06458-4","abstract":[{"lang":"eng","text":"<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>"}],"user_id":"78640","citation":{"short":"T. Berger, S. Drücker, L.J. Lanza, T. Reis, R. Seifried, Nonlinear Dynamics (2021).","bibtex":"@article{Berger_Drücker_Lanza_Reis_Seifried_2021, title={Tracking control for underactuated non-minimum phase multibody systems}, DOI={<a href=\"https://doi.org/10.1007/s11071-021-06458-4\">10.1007/s11071-021-06458-4</a>}, journal={Nonlinear Dynamics}, author={Berger, Thomas and Drücker, Svenja and Lanza, Lukas Johannes and Reis, Timo and Seifried, Robert}, year={2021} }","chicago":"Berger, Thomas, Svenja Drücker, Lukas Johannes Lanza, Timo Reis, and Robert Seifried. “Tracking Control for Underactuated Non-Minimum Phase Multibody Systems.” <i>Nonlinear Dynamics</i>, 2021. <a href=\"https://doi.org/10.1007/s11071-021-06458-4\">https://doi.org/10.1007/s11071-021-06458-4</a>.","ama":"Berger T, Drücker S, Lanza LJ, Reis T, Seifried R. Tracking control for underactuated non-minimum phase multibody systems. <i>Nonlinear Dynamics</i>. 2021. doi:<a href=\"https://doi.org/10.1007/s11071-021-06458-4\">10.1007/s11071-021-06458-4</a>","mla":"Berger, Thomas, et al. “Tracking Control for Underactuated Non-Minimum Phase Multibody Systems.” <i>Nonlinear Dynamics</i>, 2021, doi:<a href=\"https://doi.org/10.1007/s11071-021-06458-4\">10.1007/s11071-021-06458-4</a>.","apa":"Berger, T., Drücker, S., Lanza, L. J., Reis, T., &#38; Seifried, R. (2021). Tracking control for underactuated non-minimum phase multibody systems. <i>Nonlinear Dynamics</i>. <a href=\"https://doi.org/10.1007/s11071-021-06458-4\">https://doi.org/10.1007/s11071-021-06458-4</a>","ieee":"T. Berger, S. Drücker, L. J. Lanza, T. Reis, and R. Seifried, “Tracking control for underactuated non-minimum phase multibody systems,” <i>Nonlinear Dynamics</i>, 2021."}}