Mechanical Feedback Linearization of Single-Input Mechanical Control Systems

• 成果类型: Article
• 署名作者: Nowicki, Marcin; Respondek, Witold
• 署名单位: Poznan University of Technology; Lodz University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3259004
• 发表日期: 2023
• 页码: 7966-7973
• 关键词: Feedback linearization; geometric control theory; mechanical systems

摘要

We present a new type of feedback linearization that is tailored for mechanical control systems. We call it mechanical feedback linearization. Its basic feature is the preservation of the mechanical structure of the system. For mechanical systems with a scalar control, we formulate necessary and sufficient conditions that are verifiable using differentiations and algebraic operations only. We illustrate our results with several examples.