This work presents three different approaches in inverse dynamics for the solution of trajectory tracking problems in underactuated multibody systems. Such systems are characterized by less control inputs than degrees of freedom. The first approach uses an extension of the equations of motion by geometric and control constraints. This results in index-five differential-algebraic equations. A projection method is used to reduce the systems index and the resulting equations are solved numerically. The second method is a flatness-based feedforward control design. Input and state variables can be parameterized by the flat outputs and their time derivatives up to a certain order. The third approach uses an optimal control algorithm which is based on the minimization of a cost functional including system outputs and desired trajectory. It has to be distinguished between direct and indirect methods. These specific methods are applied to an underactuated planar crane and a three-dimensional rotary crane.
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ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 28–31, 2011
Washington, DC, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
978-0-7918-5481-5
PROCEEDINGS PAPER
Trajectory Tracking of Underactuated Multibody Systems
Stefan Reichl,
Stefan Reichl
Upper Austria University of Applied Sciences, Wels, Austria
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Wolfgang Steiner
Wolfgang Steiner
Upper Austria University of Applied Sciences, Wels, Austria
Search for other works by this author on:
Stefan Reichl
Upper Austria University of Applied Sciences, Wels, Austria
Wolfgang Steiner
Upper Austria University of Applied Sciences, Wels, Austria
Paper No:
DETC2011-47207, pp. 295-304; 10 pages
Published Online:
June 12, 2012
Citation
Reichl, S, & Steiner, W. "Trajectory Tracking of Underactuated Multibody Systems." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 295-304. ASME. https://doi.org/10.1115/DETC2011-47207
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