Mechanical input-output linearization and decoupling of mechanical control systems
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
[2.2] Automation, electronics, electrical engineering and space technologies
2024
chapter in monograph / paper
english
- mechanical control systems
- input-output linearization
- input-output decoupling
EN In this paper, we present a mechanical counterpart of the problem of simultaneous input-output feedback linearization and decoupling that is designed for control systems that possess a mechanical structure. We show how our problem differs from the classical one and what are the supplementary conditions for preserving the mechanical structure of the system. Unlike our previous works, here we treat a mechanical control system (MSO) as a control system on TQ with a special structure of the drift and control vector fields.
310 - 315
20
20