Title
Mechanical linearization of mechanical control systems without controllability assumption
Authors
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
Scientific discipline (Law 2.0)
[2.2] Automation, electronics, electrical engineering and space technologies
Year of publication
2023
Published in
Article type
scientific article
Publication language
english
Keywords
EN
- Feedback linearization
- Mechanical systems
- Geometric control theory
- Linear/nonlinear models
Abstract
EN We present a linearization procedure of mechanical control systems that preserves the mechanical structure of the system, i.e. the mechanical linearization. We give necessary and sufficient conditions for such linearization in two main (static) cases, namely state–space linearization and feedback linearization. In contrast to the classical cases, such mechanical linearizations can be performed without assuming controllability of the linearized system.
Date of online publication
08.06.2023
Pages (from - to)
111098-1 - 111098-10
Comments
Article Number: 111098
Ministry points / journal
200
Impact Factor
4,8
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