A Servo-constraint Framework for Control of Various Types of Underactuated Multibody Systems

Abstract eng:
The control of underactuated multibody systems is often a challenging task since less control inputs than degrees of freedom are available. A systematic approach for feedforward control design of underactuated multibody systems is the use of servo-constraints for model inversion. For various systems the dynamics of the obtained inverse model can be very different. Therefore different numerical solution approaches are required. The obtained feedforward control can then be combined with feedback control. The presented framework is verified experimentally using two underactuated multibody systems with very different structural properties, namely an overhead crane and a flexible parallel manipulator. Questions concerning practical implementation and real-time capability are addressed.

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