On Equivalence and Feedback Equivalence to Finitely Computable Sampled Models

Author

Giamberardino, P. Di ; Monaco, S. ; Normand-Cyrot, D.

Author_Institution

Dipt. di Informatica e Sistemistica "Antonio Ruberti", Universita di Roma "La Sapienza"

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

5869

Lastpage

5874

Abstract

The paper deals with the finiteness of the series expansions representing the sampled model of a nonlinear plant after coordinates transformation and state feedback. Such a property makes the computation of the exact sampled model possible by finite calculations: "finite computability". Necessary and sufficient conditions are given for the class of controllable driftless dynamics. Some constructive approaches to the computation of the solutions are discussed. The results are extended to the class of underactuated mechanical systems

Keywords

computability; nonlinear systems; sampled data systems; state feedback; controllable driftless dynamics; coordinates transformation; exact sampled model; feedback equivalence; finite calculation; finite computability; finitely computable sampled models; nonlinear plant; state feedback; underactuated mechanical system; Context modeling; Legged locomotion; Linear feedback control systems; Mechanical systems; Mobile robots; Orbital robotics; Robot kinematics; State feedback; Sufficient conditions; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.377699

Filename

4177849