Tracking control for underactuated non-minimum phase multibody systems

Abstract We consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the may be underactuated contain kinematic loops thus described by a set of differential-algebraic equations that cannot reformulated as ordinary differential in general. propose strategy combines feedforward controller based on servo-constraints approach with feedback recent funnel design. As an important tool both approaches, we present new procedure to derive internal dynamics system. feasible coordinates avoiding effort involved computation Byrnes–Isidori form. The design is demonstrated simulation nonlinear non-minimum phase multi-input, multi-output robotic manipulator loop.