Stable Model Inversion for Underactuated Multibody Systems |
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| Authors: | Robert Seifried Peter Eberhard |
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| Institution: | Institute of Engineering and Computational Mechanics, University of Stuttgart, 70550 Stuttgart, Germany |
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| Abstract: | Inverse models for underactuated multibody systems are presented. The derivation of the inverse model is based on the transformation of the equation of motion into a nonlinear input–output normal–form. These inverse models often include a internal dynamics, for which different methods of solution are presented. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim) |
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