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An Approach to Feed‐Forward Controller Design for Underactuated Multibody Systems in the Presence of Uncertainty

The performance of a model‐based tracking controller depends on the quality of the underlying model. Especially for flexible multibody systems, the derivation of a suitable model and the subsequent controller design are challenging tasks. In the paper, it is shown how in a straightforward approach a feed‐forward controller for a flexible multibody system is designed based on a simplified model which approximates an elastic beam by a combination of rigid beams and force elements. Furthermore, the modelling error due to this harsh simplification is included as uncertainty in the simplified model and considered in the model‐based feed‐forward controller design using fuzzy arithmetic. (© 2016 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)