Mechanical Feedback Linearization of Single-Input Mechanical Control Systems

Marcin Nowicki; Witold Respondek

doi:10.1109/TAC.2023.3259004

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Title

Mechanical Feedback Linearization of Single-Input Mechanical Control Systems

Authors

Marcin Nowicki (WARiE) ^{[ 1 ][ 2.2 ][ P ]}
Witold Respondek

^{[ 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

IEEE Transactions on Automatic Control

Journal year: 2023 | Journal volume: vol. 68 | Journal number: iss. 12

Article type

scientific article

Publication language

english

Keywords

EN

feedback linearization
geometric control theory
mechanical systems

Abstract

EN We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is the preservation of the mechanical structure of the system. For mechanical systems with a scalar control, we formulate necessary and sufficient conditions that are verifiable using differentiations and algebraic operations only. We illustrate our results with several examples.

Date of online publication

20.03.2023

DOI

10.1109/TAC.2023.3259004

URL

https://ieeexplore.ieee.org/document/10076262

Ministry points / journal

200

Impact Factor

6,2

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