Mechanical feedback linearization of single-input mechanical control systems
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2022
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| Subjects: | |
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| _version_ | 1866909143926833152 |
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| author | Nowicki, Marcin Respondek, Witold |
| author_facet | Nowicki, Marcin Respondek, Witold |
| contents | We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical systems with a scalar control, we formulate necessary and sufficient conditions that are verifiable using differentiations and algebraic operations only. We illustrate our results with several examples. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2301_00087 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Mechanical feedback linearization of single-input mechanical control systems Nowicki, Marcin Respondek, Witold Optimization and Control Systems and Control We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical systems with a scalar control, we formulate necessary and sufficient conditions that are verifiable using differentiations and algebraic operations only. We illustrate our results with several examples. |
| title | Mechanical feedback linearization of single-input mechanical control systems |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2301.00087 |