On the Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Systems in Generalized State Representation
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866916465283694592 |
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| author | Hartl, Georg Gstöttner, Conrad Kolar, Bernd Schöberl, Markus |
| author_facet | Hartl, Georg Gstöttner, Conrad Kolar, Bernd Schöberl, Markus |
| contents | In this paper, we examine the exact linearization of configuration flat Lagrangian control systems in generalized state representation with p degrees of freedom and p-1 control inputs by quasi-static feedback of its generalized state. We formally introduce generalized Lagrangian control systems, which are obtained when configuration variables are considered as inputs instead of forces. This work presents all possible lengths of integrator chains achieved by an exact linearization with a quasi-static feedback law of the generalized state that allows for rest-to-rest transitions. We show that such feedback laws can be systematically derived without using Brunovský states. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_05023 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | On the Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Systems in Generalized State Representation Hartl, Georg Gstöttner, Conrad Kolar, Bernd Schöberl, Markus Dynamical Systems In this paper, we examine the exact linearization of configuration flat Lagrangian control systems in generalized state representation with p degrees of freedom and p-1 control inputs by quasi-static feedback of its generalized state. We formally introduce generalized Lagrangian control systems, which are obtained when configuration variables are considered as inputs instead of forces. This work presents all possible lengths of integrator chains achieved by an exact linearization with a quasi-static feedback law of the generalized state that allows for rest-to-rest transitions. We show that such feedback laws can be systematically derived without using Brunovský states. |
| title | On the Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Systems in Generalized State Representation |
| topic | Dynamical Systems |
| url | https://arxiv.org/abs/2402.05023 |