A Classification of Feedback Linearizable Mechanical Systems with 2 Degrees of Freedom
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
2020
chapter in monograph / paper
english
- mechanical systems
- feedback linearization
- classification
- normal forms
EN A classification of feedback linearizable mechanical control system with 2 DOF is proposed. We develop 3 types of linearization and for each we establish a normal form. Then, we characterize each class and calculate linearizing outputs. As a consequence, necessary and sufficient linearizability conditions are formulated for all cases. We illustrate our result by mechanical linearization of the TORA system.
24.06.2020
638 - 650
20