scientific article; zbMATH DE number 584328

MaRDI QIDQ4294923zbMATH OpenFDO

Authors Christoph Woernle

Publication date 1 August 1995

zbMATH Keywords

actuator forcescombined position and force controlfeedback controlrobot control

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Free motion of a rigid body (70E15) Holonomic systems related to the dynamics of a system of particles (70F20) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

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• Information fusion based decoupling control for multivariable nonlinear system
• Applications and prospect of the nonlinear decoupling method
• New results on control of multibody systems which conserve angular momentum
• Lie algebraic control for the stabilization of nonlinear multibody system dynamics simulation
• Deduction method of the overall transfer equation of linear controlled multibody systems
• Dynamic analysis and control of multibody systems using nonlinear combination methods
• Modeling, control and fault tolerance of multibody mechanical systems
• Trajectory-tracking control from a multibody system dynamics perspective
• Receptance-based model predictive control of multibody systems with time-varying references

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