Skip to main content
Top

2011 | OriginalPaper | Chapter

Optimization-Based Design of Minimum Phase Underactuated Multibody Systems

Author : Robert Seifried

Published in: Multibody Dynamics

Publisher: Springer Netherlands

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

An underactuated multibody system has less control inputs than degrees of freedom, e.g. due to passive joints or body flexibility. The analysis of the mechanical design of these kind of underactuated multibody systems might show that they are non-minimum phase, i.e. they have an internal dynamic which is not asymptotically stable. Therefore, feedback linearization is not possible, and also feed-forward control design for output trajectory tracking becomes a very challenging task. In this paper it is shown that through the use of an optimization procedure underactuated multibody systems can be designed in such a way that they are minimum phase. Thus feed-forward control design is significantly simplified and also feedback linearization of the underactuated multibody system is possible.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Literature
[1].
go back to reference Agrawal S, Sangwan V (2008) Differentially flat designs of underactuated open-chain planar robots. IEEE T Robot 24:1445–1451CrossRef Agrawal S, Sangwan V (2008) Differentially flat designs of underactuated open-chain planar robots. IEEE T Robot 24:1445–1451CrossRef
[2].
go back to reference Ast A, Eberhard P (2006) Flatness-based control of parallel kinematics using multibody systems - simulation and experimental results. Arch Appl Mech 76:181–197MATHCrossRef Ast A, Eberhard P (2006) Flatness-based control of parallel kinematics using multibody systems - simulation and experimental results. Arch Appl Mech 76:181–197MATHCrossRef
[3].
go back to reference Blajer W, Kolodziejczyk K (2004) A geometric approach to solving problems of control constraints: theory and a DAE framework. Multibody Syst Dyn 11:343–364MATHCrossRefMathSciNet Blajer W, Kolodziejczyk K (2004) A geometric approach to solving problems of control constraints: theory and a DAE framework. Multibody Syst Dyn 11:343–364MATHCrossRefMathSciNet
[4].
go back to reference Brockett R (1978) Feedback invarianta for nonlinear systems. In: Proceedings of the 7th IFAC world congress, Helsinki, Finland Brockett R (1978) Feedback invarianta for nonlinear systems. In: Proceedings of the 7th IFAC world congress, Helsinki, Finland
[5].
go back to reference De Luca A (1998) Trajectory control of flexible manipulators. In: Siciliano B, Valavanis K (eds) Control problems in robotics and automation. Springer, London, pp 83–104CrossRef De Luca A (1998) Trajectory control of flexible manipulators. In: Siciliano B, Valavanis K (eds) Control problems in robotics and automation. Springer, London, pp 83–104CrossRef
[8].
go back to reference Isidori A (1995) Nonlinear control systems. Springer, LondonMATH Isidori A (1995) Nonlinear control systems. Springer, LondonMATH
[9].
go back to reference Kennedy J, Eberhart R (1995) Particle swarm optimization. In: Proceedings of the international conference on neural networks, Perth, Australia, pp 1942–1948 Kennedy J, Eberhart R (1995) Particle swarm optimization. In: Proceedings of the international conference on neural networks, Perth, Australia, pp 1942–1948
[10].
go back to reference Kennedy J, Eberhart R (2001) Swarm intelligence. Morgan Kaufmann, San Francisco Kennedy J, Eberhart R (2001) Swarm intelligence. Morgan Kaufmann, San Francisco
[11].
go back to reference Khalil H (2002) Nonlinear systems. Prentice Hall, Upper Saddle RiverMATH Khalil H (2002) Nonlinear systems. Prentice Hall, Upper Saddle RiverMATH
[12].
go back to reference Moberg S, Hanssen S (2007) A DAE approach to feedforward control of flexible manipulators. In: Proceedings of the 2007 IEEE international conference on robotics and automation, pp 3439–3444CrossRef Moberg S, Hanssen S (2007) A DAE approach to feedforward control of flexible manipulators. In: Proceedings of the 2007 IEEE international conference on robotics and automation, pp 3439–3444CrossRef
[13].
go back to reference Müller P C, Schiehlen W (1985) Linear vibrations. Martinus Nijhoff Publishers, Dordrecht Müller P C, Schiehlen W (1985) Linear vibrations. Martinus Nijhoff Publishers, Dordrecht
[14].
go back to reference Sastry S (1999) Nonlinear systems: analysis, stability and control. Springer, New YorkMATH Sastry S (1999) Nonlinear systems: analysis, stability and control. Springer, New YorkMATH
[15].
go back to reference Sedlaczek K (2007) Zur Topologieoptimierung von Mechanismen und Mehrkörpersystemen (in German). Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart, Shaker Verlag, Aachen Sedlaczek K (2007) Zur Topologieoptimierung von Mechanismen und Mehrkörpersystemen (in German). Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart, Shaker Verlag, Aachen
[16].
go back to reference Sedlaczek K, Eberhard P (2006) Using augmented Lagrangian particle swarm optimization for constrained problems in engineering. Struct Multidiscip O 32:277–286CrossRef Sedlaczek K, Eberhard P (2006) Using augmented Lagrangian particle swarm optimization for constrained problems in engineering. Struct Multidiscip O 32:277–286CrossRef
[17].
go back to reference Seifried R, Eberhard, P (2009) Design of feed-forward control for underactuated multibody systems with kinematic redundancy. In: Ulbrich H, Ginzinger L (eds) Motion and vibration control: selected papers from MOVIC 2008. Springer, pp 275–284 Seifried R, Eberhard, P (2009) Design of feed-forward control for underactuated multibody systems with kinematic redundancy. In: Ulbrich H, Ginzinger L (eds) Motion and vibration control: selected papers from MOVIC 2008. Springer, pp 275–284
[18].
go back to reference Soltine J-J, Li W (1991) Applied nonlinear control. Prentice Hall, Englewood Cliffs Soltine J-J, Li W (1991) Applied nonlinear control. Prentice Hall, Englewood Cliffs
[19].
go back to reference Skogestad S, Postlethwaite R (2005) Multivariable feedback control. Wiley, Chichester Skogestad S, Postlethwaite R (2005) Multivariable feedback control. Wiley, Chichester
[20].
go back to reference Spong M, Hutchinson S, Vidyasagar M (2006) Robot modeling and control. Wiley, Hoboken Spong M, Hutchinson S, Vidyasagar M (2006) Robot modeling and control. Wiley, Hoboken
[21].
go back to reference Taylor D, Li S (2002) Stable inversion of continuous-time nonlinear systems by finite-difference methods. IEEE T Automat Contr 47:537–542CrossRefMathSciNet Taylor D, Li S (2002) Stable inversion of continuous-time nonlinear systems by finite-difference methods. IEEE T Automat Contr 47:537–542CrossRefMathSciNet
Metadata
Title
Optimization-Based Design of Minimum Phase Underactuated Multibody Systems
Author
Robert Seifried
Copyright Year
2011
Publisher
Springer Netherlands
DOI
https://doi.org/10.1007/978-90-481-9971-6_13

Premium Partners