---
_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'
...