Numerical methods for the inverse dynamics simulation of underactuated mechanical systems

• Tác giả: Yinping Yang
• Ngôn ngữ: eng
• ISBN-13: 978-3731506263
• ISBN: KSP/1000065049
• Ký hiệu phân loại: 620 Engineering and allied operations
• Thông tin xuất bản: Karlsruhe : KIT Scientific Publishing, 2017
• Mô tả vật lý: 1 electronic resource (XVII, 224 p. p.)
• Bộ sưu tập: Tài liệu truy cập mở
• ID: 202918

Tóm tắt

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.