Optimization-Based Design of Minimum Phase Underactuated Multibody Systems

Abstract

AbstractAn 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.KeywordsMultibody SystemFeedback LinearizationInternal DynamicTrajectory TrackingMinimum PhaseThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.