Tracking control for underactuated non-minimum phase multibody systems

We consider tracking control for multibody systems which are modelled using holonomic and nonholonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of differential-algebraic equations that cannot be reformulated as ordinary di...

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Hauptverfasser:	Berger, Thomas, Drücker, Svenja, Lanza, Lukas, Reis, Timo, Seifried, Robert
Format:	Artikel
Sprache:	eng
Schlagworte:	Mathematics - Optimization and Control
Online-Zugang:	Volltext bestellen
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