Configuration flatness of Lagrangian systems underactuated by one control

被引：62

作者：

Rathinam, M ^{[1
]}

Murray, RM ^{[1
]}

机构：

[1] CALTECH, Pasadena, CA 91125 USA

来源：

SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 1998年 / 36卷 / 01期

关键词：

differential flatness; nonlinear control; Lagrangian mechanics;

D O I：

10.1137/S0363012996300987

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Lagrangian control systems that are differentially flat with flat outputs that depend only on configuration variables are said to be configuration flat. We provide a complete characterization 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 characterization relates configuration flatness to Riemannian geometry. We illustrate the method with two examples.

引用

页码：164 / 179

页数：16

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