Georg Hartl, Conrad Gstöttner, Bernd Kolar, Markus Schöberl,
"Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States"
: Proceedings 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024, Serie IFAC-PapersOnLine, Vol. 58, Nummer 6, Seite(n) 256-261, 2024
Original Titel:
Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States
Sprache des Titels:
Englisch
Original Buchtitel:
Proceedings 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024
Original Kurzfassung:
We study the exact linearization of configuration flat Lagrangian control systems with p degrees of freedom and p - 1 inputs by quasi-static feedback of classical states. First, we present a detailed analysis of the structure of the parameterization of the system variables by the flat output. Based on that, we systematically construct a linearizing quasi-static feedback law of the classical state such that the closed-loop system shows the behavior of decoupled integrator chains. Our approach shows that the construction of a generalized Brunovsky state can be completely circumvented. Furthermore, we present a method for determining the lengths of the integrator chains achieved by quasi-static feedback laws that allow for rest-to-rest transitions.
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