Feedback linearizable mechanical systems with rotational DOFs
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
[2.2] Automation, electronics, electrical engineering and space technology
PL Systemy mechaniczne linearyzowalne przez sprzężenienie zwrotne z jednym złączem obrotowym
2023
chapter in monograph / paper
english
- mechanical control systems
- feedback linearization
- global vs. local
- singularieties
EN We disscuss global and local mechanical feedback linearization of mechanical control systems with 2 degrees of freedom, including at least one rotational joint and a single control. We characterize singularieties of linearization and propose a control scheme that enables to steer the system through singularieties. We exemplify our result on the TORA system and the inertia wheel pendulum for which we construct a trajectory tracking simulation starting from the downright position and ending at the upright postition.
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