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

DOI10.1007/S11044-015-9471-XMaRDI QIDQ2629338zbMATH OpenOpenAlexFDO

Authors 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

underactuated mechanical systemsfeedforward controldifferentially 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)

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Cites work

• scientific article; zbMATH DE number 1193339 (Why is no real title available?)
• scientific article; zbMATH DE number 852526 (Why is no real title available?)
• scientific article; zbMATH DE number 3320272 (Why is no real title available?)
• scientific article; zbMATH DE number 2229937 (Why is no real title available?)
• A geometric approach to solving problems of control constraints: Theory and a DAE framework
• A rotationless formulation of multibody dynamics: modeling of screw joints and incorporation of control constraints
• Dynamics and control of mechanical systems in partly specified motion
• Dynamics and flatness-based control of a kinematically undetermined cable suspension manipulator
• Flatness and defect of non-linear systems: introductory theory and examples
• Index Reduction in Differential-Algebraic Equations Using Dummy Derivatives
• Index reduction for differential-algebraic equations by minimal extension
• Index reduction for operator differential-algebraic equations in elastodynamics
• On Lagrangian dynamics and its control formulations

Cited in

(9)

• A DAE formulation for the dynamic analysis and control design of cranes executing prescribed motions of payloads
• Trajectory-tracking control from a multibody system dynamics perspective
• Inverse dynamics of underactuated planar manipulators without inertial coupling singularities
• Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters
• 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
• 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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