Two approaches for feedforward control and optimal design of underactuated multibody systems
DOI10.1007/S11044-011-9261-ZzbMATH Open1344.93055OpenAlexW2103881331MaRDI QIDQ666575FDOQ666575
Authors: Robert Seifried 
Publication date: 8 March 2012
Published in: Multibody System Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11044-011-9261-z
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optimal designunderactuationfeedforward controlinternal dynamicsminimum phasemodel inversionservo-constraints
Dynamics of multibody systems (70E55) Control of mechanical systems (70Q05) Linearizations (93B18) Nonlinear systems in control theory (93C10)
Cites Work
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Cited In (14)
- Calculating road input data for vehicle simulation
- Trajectory-tracking control from a multibody system dynamics perspective
- Combined open-loop and funnel control for underactuated multibody systems
- Input optimization for flexible multibody systems using the adjoint variable method and the flexible natural coordinates formulation
- Open-Loop Control of Underactuated Mechanical Systems Using Servo-Constraints: Analysis and Some Examples
- A stable reentry trajectory for flexible manipulators
- Design of Feed-Forward Control for Underactuated Multibody Systems with Kinematic Redundancy
- System-based approaches for structural optimization of flexible mechanisms
- Trajectory control of serial and parallel flexible manipulators using model inversion
- Computed torque control of redundant manipulators using general-purpose software in real-time
- Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control
- Energy-optimal trajectory planning for planar underactuated \(RR\) robot manipulators in the absence of gravity
- Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach
- Optimization-based design of minimum phase underactuated multibody systems
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