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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.

index reduction --- servo constraints --- differential-algebraic equations --- Inverse Dynamik --- unteraktuierte Systeme --- differential-algebraische GleichungenInverse dynamics --- Servobindungen --- Indexreduktion --- underactuated mechanical systems --- index reduction --- servo constraints --- differential-algebraic equations --- Inverse Dynamik --- unteraktuierte Systeme --- differential-algebraische GleichungenInverse dynamics --- Servobindungen --- Indexreduktion --- underactuated mechanical systems

Choose an application

• Reference Manager
• EndNote
• RefWorks (Direct export to RefWorks)

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.

index reduction --- servo constraints --- differential-algebraic equations --- Inverse Dynamik --- unteraktuierte Systeme --- differential-algebraische GleichungenInverse dynamics --- Servobindungen --- Indexreduktion --- underactuated mechanical systems