Index reduction by minimal extension for the inverse dynamics simulation of cranes

DOI10.1007/s11044-015-9471-xzbMath1369.70046OpenAlexW1838522103MaRDI QIDQ2629338

Robert Altmann, Yinping Yang, Peter Betsch

Publication date: 6 July 2016

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-015-9471-x

zbMATH Keywords

feedforward controlunderactuated mechanical systemsdifferentially flat systemsservo constraints

Mathematics Subject Classification ID

Implicit ordinary differential equations, differential-algebraic equations (34A09) Control of mechanical systems (70Q05) Ordinary differential equations and systems on manifolds (34C40)

Related Items (8)

Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters ⋮ Trajectory-tracking control from a multibody system dynamics perspective ⋮ A simultaneous space‐time discretization approach to the inverse dynamics of geometrically exact strings ⋮ Simulation of multibody systems with servo constraints through optimal control ⋮ Open-Loop Control of Underactuated Mechanical Systems Using Servo-Constraints: Analysis and Some Examples ⋮ Inverse dynamics of underactuated planar manipulators without inertial coupling singularities ⋮ Numerical integration for the inverse dynamics of a large class of cranes ⋮ Combined open-loop and funnel control for underactuated multibody systems

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