Flatness and normal forms of mechanical systems with 3 DOF and 2 inputs
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] pracownik
[2.2] Automatyka, elektronika, elektrotechnika i technologie kosmiczne
2024
artykuł naukowy / referat
angielski
- mechanical systems
- flatness
- Differential difference
- normal forms
EN This paper introduces a new notion of Differential flatness for mechanical control systems, that we call mechanical flatness, and we study its relations with the mechanical structure of systems and with several variations of the notion of flatness. For the simplest nontrivial case of 3 DOF and 2-inputs, we give a complete Classification result in terms of normal forms, examining the interplay between mechanical flatness, config-flatness, and static mechanical feedback linearization.
250 - 255
CC BY-NC-ND (uznanie autorstwa - użycie niekomercyjne - bez utworów zależnych)
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