Numerical Methods for the Inverse Dynamics Simulation of Underactuated Mechanical Systems

By Nathan George

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.

This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.

• Format: Hardcover
• Language: English
• ISBN: 1013282698
• ISBN13: 9781013282690
• Release Date: October 2020
• Publisher: Saint Philip Street Press
• Length: 252 Pages
• Weight: 1.93 lbs.
• Dimensions: 0.6" x 8.5" x 11.0"