Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
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Beschreibung
The present work deals with the inverse dynamics simulation of underactuated multibody systems. In particular, the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. The use of servo constraints provides an approach to formulate trajectory tracking control problems of underacutated systems, which are also called underactuated servo constraint problems.
The present work deals with the inverse dynamics simulation of underactuated multibody systems. In particular, the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. The use of servo constraints provides an approach to formulate trajectory tracking control problems of underacutated systems, which are also called underactuated servo constraint problems.
Autor*in
Yinping Yang
Themen in »Numerical methods for the inverse dynamics simulation of underactuated mechanical systems«
Indexreduktion Servobindungen Inverse dynamics underactuated mechanical systems servo constraints differential-algebraic equations Inverse Dynamik index reduction unteraktuierte Systeme differential-algebraische Gleichungen