TY  - GEN
AU  - Yang,Yinping
TI  - Numerical methods for the inverse dynamics simulation of underactuated mechanical systems
SN  - KSP/1000065049
PY  - 2017///
PB  - KIT Scientific Publishing
KW  - index reduction
KW  - servo constraints
KW  - differential-algebraic equations
KW  - Inverse Dynamik
KW  - unteraktuierte Systeme
KW  - differential-algebraische GleichungenInverse dynamics
KW  - Servobindungen
KW  - Indexreduktion
KW  - underactuated mechanical systems
N1  - Open Access
N2  - The present work deals with the inverse dynamics simulation of underactuated multibody systems. In particular, the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. The use of servo constraints provides an approach to formulate trajectory tracking control problems of underacutated systems, which are also called underactuated servo constraint problems
UR  - https://www.ksp.kit.edu/9783731506263
UR  - https://directory.doabooks.org/handle/20.500.12854/54918
ER  -