Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2023
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866915002010566656 |
|---|---|
| author | Hartl, Georg Gstöttner, Conrad Kolar, Bernd Schöberl, Markus |
| author_facet | Hartl, Georg Gstöttner, Conrad Kolar, Bernd Schöberl, Markus |
| contents | We study the exact linearization of configuration flat Lagrangian control systems with p degrees of freedom and p-1 inputs by quasi-static feedback of classical states. First, we present a detailed analysis of the structure of the parameterization of the system variables by the flat output. Based on that, we systematically construct a linearizing quasi-static feedback law of the classical state such that the closed-loop system shows the behavior of decoupled integrator chains. Our approach shows that the construction of a generalized Brunovsky state can be completely circumvented. Furthermore, we present a method for determining the lengths of the integrator chains achieved by quasi-static feedback laws that allow for rest-to-rest transitions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_13371 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States Hartl, Georg Gstöttner, Conrad Kolar, Bernd Schöberl, Markus Dynamical Systems We study the exact linearization of configuration flat Lagrangian control systems with p degrees of freedom and p-1 inputs by quasi-static feedback of classical states. First, we present a detailed analysis of the structure of the parameterization of the system variables by the flat output. Based on that, we systematically construct a linearizing quasi-static feedback law of the classical state such that the closed-loop system shows the behavior of decoupled integrator chains. Our approach shows that the construction of a generalized Brunovsky state can be completely circumvented. Furthermore, we present a method for determining the lengths of the integrator chains achieved by quasi-static feedback laws that allow for rest-to-rest transitions. |
| title | Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States |
| topic | Dynamical Systems |
| url | https://arxiv.org/abs/2310.13371 |