Journal
NONLINEAR DYNAMICS
Volume 104, Issue 4, Pages 3671-3699Publisher
SPRINGER
DOI: 10.1007/s11071-021-06458-4
Keywords
Multibody Dynamics; Underactuated Systems; Non-minimum Phase; Servo-constraints; Funnel Control
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Funding
- German Research Foundation (Deutsche Forschungsgemeinschaft) [BE 6263/1-1, SE 1685/6-1]
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The study focuses on tracking control for multibody systems modeled using holonomic and non-holonomic constraints. These systems may be underactuated, contain kinematic loops, and cannot be reformulated as ordinary differential equations. A control strategy combining feedforward and feedback controllers is proposed, demonstrated by a nonlinear non-minimum phase multi-input, multi-output robotic manipulator simulation.
We consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of differential-algebraic equations that cannot be reformulated as ordinary differential equations in general. We propose a control strategy which combines a feedforward controller based on the servo-constraints approach with a feedback controller based on a recent funnel control design. As an important tool for both approaches, we present a new procedure to derive the internal dynamics of a multibody system. Furthermore, we present a feasible set of coordinates for the internal dynamics avoiding the effort involved with the computation of the Byrnes-Isidori form. The control design is demonstrated by a simulation for a nonlinear non-minimum phase multi-input, multi-output robotic manipulator with kinematic loop.
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