Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States

Description

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.

Period	12 Jun 2024
Event title	8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
Event type	Conference
Location	FranceShow on map