Dynamics and optimal control of multibody systems using fractional generalized divide-and-conquer algorithm

In this paper, a new framework is presented for the dynamic modeling and control of fully actuated multibody systems with open and/or closed chains as well as disturbance in the position, velocity, acceleration, and control input of each joint. This approach benefits from the computed torque control...

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Bibliographic Details
Published in:	Nonlinear dynamics Vol. 102; no. 3; pp. 1611 - 1626
Main Authors:	Dabiri, Arman, Poursina, Mohammad, Machado, J. A. Tenreiro
Format:	Journal Article
Language:	English
Published:	Dordrecht Springer Netherlands 01.11.2020 Springer Nature B.V
Subjects:	Acceleration Algorithms Automotive Engineering Canonical forms Chains Classical Mechanics Computing time Control Control methods Control stability Control systems Control theory Dynamic models Dynamic stability Dynamical Systems Engineering Inverse dynamics Mechanical Engineering Multibody systems Nonlinear control Optimal control Original Paper Stability criteria System dynamics Torque Tracking errors Vibration Parallel computing Optimal control Multibody dynamics Open-chain system Fractional control PID LQR Closed-chain system Computed-torque control Divide and conquer algorithm
ISSN:	0924-090X, 1573-269X
Online Access:	Get full text
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