Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
Abstract (englisch):
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.
| Zugehörige Institution(en) am KIT | Institut für Mechanik (IFM) |
| Publikationstyp | Hochschulschrift |
| Jahr | 2017 |
| Sprache | Englisch |
| Identifikator | ISBN: 978-3-7315-0626-3 ISSN: 2363-4936 URN: urn:nbn:de:0072-650499 KITopen ID: 1000065049 |
| Verlag | KIT Scientific Publishing, Karlsruhe |
| Umfang | XVII, 224 S. |
| Serie | Schriftenreihe des Instituts für Mechanik, Karlsruher Institut für Technologie ; 5 |
| Abschlussart | Dissertation |
| Prüfungsdaten | 06.10.2016 |
| Schlagworte | Inverse Dynamik, Indexreduktion, Servobindungen, unteraktuierte Systeme, differential-algebraische Gleichungen Inverse dynamics, index reduction, servo constraints, underactuated mechanical systems, differential-algebraic equations |