Mechanical linearization of mechanical control systems without controllability assumption
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] pracownik
[2.2] Automatyka, elektronika, elektrotechnika i technologie kosmiczne
2023
artykuł naukowy
angielski
- Feedback linearization
- Mechanical systems
- Geometric control theory
- Linear/nonlinear models
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.
08.06.2023
111098-1 - 111098-10
Article Number: 111098
200
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