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On sufficient conditions to keep differential flatness under the addition of new inputs

Autor
Franch, J.; Agrawal, S.
Tipus d'activitat
Article en revista
Revista
International journal of control
Data de publicació
2010
Volum
83
Número
4
Pàgina inicial
829
Pàgina final
836
DOI
https://doi.org/10.1080/00207170903453860 Obrir en finestra nova
URL
https://www.tandfonline.com/doi/abs/10.1080/00207170903453860 Obrir en finestra nova
Resum
It is well known that a controllable nonlinear system will retain its controllabality when new actuator inputs are added to it. In this article, we ask the question if a system, linearisable by static or dynamic feedback, will retain this property when new actuator inputs are added to it. Alternatively, a system may be linearisable after removing one or more inputs from it. This question is important in the design of robotic systems from the perspective of trajectory planning and control, specia...
Paraules clau
differential flatness, feedback linearisability, under-actuated robots
Grup de recerca
ACES - Control Avançat de Sistemes d´Energia

Participants