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Configuration Flatness of Lagrangian Systems Underactuated by One Control |
Abstract |
Lagrangian control systems that are differ … Lagrangian control systems that are differentially flat with flat outputs that only
depend on configuration variables are said to be configuration flat. We provide a complete
characterisation of configuration flatness for systems with $n$ degrees of freedom and
$n-1$ controls whose range of control forces only depends on configuration but not on
velocity and whose Lagrangian has the form of kinetic energy minus potential. The method
presented allows us to determine if such a system is configuration flat and, if so
provides a constructive method for finding all possible configuration flat outputs. Our
characterisation relates configuration flatness to Riemannian geometry. We illustrate the
method by two examples. We illustrate the
method by two examples. +
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Authors | Muruhan Rathinam and Richard M. Murray + |
ID | 1996g + |
Source | <em>SIAM J. Control and Optimization</em>, 36(1):164-179 + |
Tag | rm96-cdc + |
Title | Configuration Flatness of Lagrangian Systems Underactuated by One Control + |
Type | Conference paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:20:17 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/rm96-cdc.pdf + |
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Configuration Flatness of Lagrangian Systems Underactuated by One Control + | Title |
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