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Stable Model Inversion for Underactuated Multibody Systems
Author(s) -
Seifried Robert,
Eberhard Peter
Publication year - 2008
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200810135
Subject(s) - underactuation , multibody system , inverse , inversion (geology) , nonlinear system , inverse dynamics , control theory (sociology) , transformation (genetics) , nonlinear model , internal model , computer science , inverse problem , equations of motion , mathematics , mathematical analysis , physics , classical mechanics , geology , chemistry , artificial intelligence , geometry , control (management) , kinematics , paleontology , quantum mechanics , structural basin , biochemistry , gene
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)