Title :
Configuration flatness of Lagrangian systems underactuated by one control
Author :
Rathinam, Muruhan ; Murray, Richard M.
Author_Institution :
Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
Abstract :
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 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
Keywords :
differential equations; geometry; marine systems; Lagrangian control systems; Riemannian geometry; configuration flatness; differentially flat systems; Control systems; Differential equations; Force control; Geometry; Kinetic energy; Lagrangian functions; Mechanical systems; Mechanical variables control; Potential energy; Velocity control;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.572795
