Analysis of servo-constraint problems for underactuated multibody systems
Underactuated multibody systems have fewer control inputs than degrees of freedom. In trajectory tracking control of such systems an accurate and efficient feedforward control is often necessary. For multibody systems feedforward control by model inversion can be designed using servo-constraints. So...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2013-02-01
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| Series: | Mechanical Sciences |
| Online Access: | http://www.mech-sci.net/4/113/2013/ms-4-113-2013.pdf |