Design of Feed-Forward Control for Underactuated Multibody Systems with Kinematic Redundancy

DOI10.1007/978-1-4020-9438-5_27zbMath1192.93023OpenAlexW71465976MaRDI QIDQ3565568

Peter Eberhard, Robert Seifried

Publication date: 4 June 2010

Published in: Motion and Vibration Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-1-4020-9438-5_27

zbMATH Keywords

feed-forward controlunderactuated multibody systemsinverse model of the multibody systemnonlinear input-output normal-form

Mathematics Subject Classification ID

Canonical structure (93B10) Control of mechanical systems (70Q05) Control problems involving ordinary differential equations (34H05) General systems (93A10) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (4)

Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach ⋮ Two approaches for feedforward control and optimal design of underactuated multibody systems ⋮ Optimization-Based Design of Minimum Phase Underactuated Multibody Systems ⋮ A geometric optimization method for the trajectory planning of flexible manipulators

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