--- _id: '22206' abstract: - lang: eng text: AbstractWe 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. author: - first_name: Thomas full_name: Berger, Thomas last_name: Berger - first_name: Svenja full_name: Drücker, Svenja last_name: Drücker - first_name: Lukas Johannes full_name: Lanza, Lukas Johannes id: '78640' last_name: Lanza - first_name: Timo full_name: Reis, Timo last_name: Reis - first_name: Robert full_name: Seifried, Robert last_name: Seifried citation: ama: 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 apa: 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 bibtex: '@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} }' chicago: 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. ieee: T. Berger, S. Drücker, L. J. Lanza, T. Reis, and R. Seifried, “Tracking control for underactuated non-minimum phase multibody systems,” Nonlinear Dynamics, 2021. mla: Berger, Thomas, et al. “Tracking Control for Underactuated Non-Minimum Phase Multibody Systems.” Nonlinear Dynamics, 2021, doi:10.1007/s11071-021-06458-4. short: T. Berger, S. Drücker, L.J. Lanza, T. Reis, R. Seifried, Nonlinear Dynamics (2021). date_created: 2021-05-17T05:24:00Z date_updated: 2022-01-06T06:55:29Z doi: 10.1007/s11071-021-06458-4 language: - iso: eng publication: Nonlinear Dynamics publication_identifier: issn: - 0924-090X - 1573-269X publication_status: published status: public title: Tracking control for underactuated non-minimum phase multibody systems type: journal_article user_id: '78640' year: '2021' ...