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Differential Flatness of Mechanical Control Systems: A Catalog of Prototype Systems
Abstract This paper describes the application of di …
This paper describes the application of differential flatness techniques from nonlinear control theory to mechanical (Lagrangian) systems. Systems which are differentially flat have several useful properties which can be exploited to generate effective control strategies for nonlinear systems. For the special case of mechanical control systems, much more geometric information is present and the purpose of this paper is to explore the implications and features of that class of systems. We concentrate on several worked examples which illustrate the general theory and present a detailed catalog of known examples of differentially flat mechanical systems.
of differentially flat mechanical systems.  +
Authors Richard M. Murray, Muruhan Rathinam, Willem Sluis  +
Flags NoRequest  +
ID 1995k  +
Source 1995 ASME Int'l Mechanical Engineering Congress and Exposition  +
Tag mrs95-imece  +
Title Differential Flatness of Mechanical Control Systems: A Catalog of Prototype Systems +
Type Conference paper  +
Categories Papers
Modification date
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15 May 2016 06:20:31  +
URL
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http://www.cds.caltech.edu/~murray/preprints/mrs95-imece.pdf  +
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Differential Flatness of Mechanical Control Systems: A Catalog of Prototype Systems + Title
 

 

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