Computed Torque Control of Articulated Multibody Systems in the Generalized Divide and Conquer Algorithm Framework
An extension to the Generalized-Divide-and-Conquer Algorithm (GDCA) is presented in this paper in conjunction with the Computed-Torque-Control-Law (CTCL) to model and control fully actuated multibody systems. CTCL uses the inverse dynamics to provide control inputs to the system while, the dynamics of the system must be formed and solved in each iteration. Herein, the GDCA is extended to form and solve the inverse dynamics to find control torques. Further, this method is also extended to efficiently solve the equations of motion of the controlled system. This significantly reduces the complexity of modeling, simulating, and controlling the fully actuated multibody systems to O(n) or O(logn) operations in each iteration in the serial and parallel implementations, respectively.