The application of extended inverse dynamics control

This work deals with the application of extended inverse dynamic control to a given constrained control problem. By choosing an extended inverse dynam ic control the system is partially linearized leading to a representation o f the system which consists of a double integrator system and a complementa ry nonlinear system. This representation looks to be more suitable for the solution of constrained control problems, rather than, the representation g iven at the outset, This is demonstrated by solving an example concerning t he constrained motion of an articulated crane. (C) 2000 Elsevier Science Lt d. All rights reserved.