Trajectory-tracking control from a multibody system dynamics perspective

Abstract The development of modern mechatronic systems is often driven by the desire for more efficiency and accuracy. These requirements not only result in complex system designs, but also simultaneous improved control strategies. Therefore, multibody an active field research. This contribution gives overview recent control-related research from perspective dynamics community. A literature review activity journal Multibody System Dynamics given. Afterwards, framework servo-constraints reviewed, since it a powerful tool computation feedforward controller directly developed Thereby, solution strategies all possible types, such as differentially flat systems, minimum phase non-minimum are discussed. Selected experimental simulation results shown to support theoretical results.