Input‐output linearization and decoupling of mechanical control systems-Reference-Cited by-同舟云学术

Input‐output linearization and decoupling of mechanical control systems

Published:2024-06-02 Issue:13 Volume:34 Page:8644-8660
ISSN:1049-8923
Container-title:International Journal of Robust and Nonlinear Control
language:en
Short-container-title:Intl J Robust & Nonlinear

Author:

Nowicki Marcin¹^ORCID,Respondek Witold²³^ORCID

Affiliation:

1. Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland

2. Institute of Automatic Control Lodz University of Technology Łódź Poland

3. Emeritus Professor at Normandie Université INSA de Rouen Saint‐Etienne‐du‐Rouvray France

Abstract

AbstractIn this article, we present the problem of simultaneous input‐output feedback linearization and decoupling (noninteracting) for mechanical control systems with outputs. We show that the natural requirement of preserving mechanical structure of the system and of transformations imposes supplementary conditions when compared to the classical solution of the same problem for general control systems. These conditions can be expressed using objects on the configuration space only. We illustrate our results with several examples of mechanical control systems.

Funder

Politechnika Poznańska

Publisher

Wiley

Link

https://onlinelibrary.wiley.com/doi/pdf/10.1002/rnc.7406

Reference27 articles.

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3. Mechanical state-space linearization of mechanical control systems and symmetric product of vector fields

4. A Classification of Feedback Linearizable Mechanical Systems with 2 Degrees of Freedom

5. Nonlinear decoupling via feedback: A differential geometric approach