Inverse dynamics of underactuated mechanical systems: a simple case study and experimental verification

DOI10.1016/J.CNSNS.2010.04.047MaRDI QIDQ718533zbMATH OpenOpenAlexFDO

Authors W. Blajer, Krzysztof Kołodziejczyk, Krzysztof Dziewiecki, Zenon Mazur

Publication date 23 September 2011

Published in Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.cnsns.2010.04.047

zbMATH Keywords

underactuated systemsdifferential flatnessinverse dynamics control

Mathematics Subject Classification ID

Dynamical systems in control (37N35) Control of mechanical systems (70Q05)

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Cites work

• scientific article; zbMATH DE number 1193339 (Why is no real title available?)
• scientific article; zbMATH DE number 3320272 (Why is no real title available?)
• A DAE formulation for the dynamic analysis and control design of cranes executing prescribed motions of payloads
• A geometric approach to solving problems of control constraints: Theory and a DAE framework
• A geometrical interpretation and uniform matrix formulation of multibody system dynamics
• Control of underactuated mechanical systems with servo-constraints
• Differentially flat systems.
• Dynamics and flatness-based control of a kinematically undetermined cable suspension manipulator
• Flatness and defect of non-linear systems: introductory theory and examples
• Flatness based control of oscillators
• Inverse dynamics of servo-constraints based on the generalized inverse
• Modeling of aircraft prescribed trajectory flight as an inverse simulation problem
• ODE Methods for the Solution of Differential/Algebraic Systems
• The index of general nonlinear DAEs

Cited in

(10)

• Calculating road input data for vehicle simulation
• Diversities in the inverse dynamics problem for underactuated mechanical systems subject to servo-constraints
• Trajectory tracking control of variable length pendulum by partial energy shaping
• Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only
• Stable model inversion for underactuated multibody systems
• Simultaneous stabilization and trajectory tracking of underactuated mechanical systems with included actuators dynamics
• On the effect of damping on the stabilization of mechanical systems via parametric excitation
• Differential-flatness-based finite-time anti-swing control of underactuated crane systems
• Two approaches for feedforward control and optimal design of underactuated multibody systems
• Stabilization via parametric excitation of multi-dof statically unstable systems

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