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...

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Bibliographic Details
Main Authors: R. Seifried, W. Blajer
Format: Article
Language:English
Published: Copernicus Publications 2013-02-01
Series:Mechanical Sciences
Online Access:http://www.mech-sci.net/4/113/2013/ms-4-113-2013.pdf

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