Optimization-Based Design of Minimum Phase Underactuated Multibody Systems

  • Robert Seifried
Part of the Computational Methods in Applied Sciences book series (COMPUTMETHODS, volume 23)


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.


Multibody System Feedback Linearization Internal Dynamic Trajectory Tracking Minimum Phase 
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Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  1. 1.Institute of Engineering and Computational MechanicsUniversity of StuttgartStuttgartGermany

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