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speaking, an underdetermined system of ordinary differential equations \\[ F^k(t,x^1,\\ldots, x^N,\\dot{x}^1,\\ldots,\\dot{x}^N)=0, \\] \\(k=1,\\ldots,n<N,\\) is differentially flat iff there is a smooth local one-to-one correspondence between solutions \\(x(t)\\) of the above system and arbitrary functions \\(y(t)\\) of the form \\(x(t)=g(t,y(t),\\ldots,y^{(\\ell)}(t)),\\) \\(y(t)=h(t,x(t),\\ldots,x^{(q)}(t)),\\) where \\(g\\) and \\(h\\) are smooth maps, \\(x^{(i)}\\) and \\(y^{(i)}\\) denote the \\(i\\)-th derivatives of \\(x\\) and \\(y\\) respectively, \\(\\ell,q \\geq 0,\\) and \\(y(t)=(y^1,\\ldots, y^p),\\) where \\(p=N-n\\) (the variables \\(y^i,\\) \\(i=1,\\ldots,p,\\) are called flat outputs). More familiar is the special class of systems given by \\[ \\dot{x}^i=f^i(t,x^1,\\ldots, x^n,u^1,\\ldots, u^p), \\] \\(i=1,\\ldots,n,\\) and \\(y^j=h^j(t,x,u,u^{(1)},\\ldots,u^{(q)}),\\) \\(j=1,\\ldots,p;\\) here, \\(y^j\\) are flat outputs, \\(x\\) represents the states, \\(u\\) are the inputs and \\(u^{(i)},\\) \\(i=1,\\ldots,q,\\) their derivatives. The reason why flatness is important in control applications lies in the fact that it provides a systematic and relatively simple way of generating solution trajectories between two given states. In the case of single input systems a complete characterization of differential flatness is available (in that case, differential flatness is equivalent to static feedback linearizability). When working with exterior differential systems, one checks flatness by calculating the so-called derived systems and by verifying certain rank and integrability conditions. Flat outputs that depend only on the configuration variables (but not on their derivatives) are called configuration flat outputs, and systems possessing such outputs are known as configuration flat. For example, a Lagrangian system for which the number of controls equals the number of degrees of freedom is configuration flat. In this paper, a complete characterization of configuration flatness for a special class of mechanical systems is provided. The class under consideration involves systems whose dynamics can be described using Lagrangian function of the form ``kinetic energy minus potential.'' Further assumptions, namely that the number of independent controls is one less than the number of degrees of freedom, and that the possible range of control forces only depends on the configuration (and not on the velocity) are made. An algorithm for deciding whether such a system is configuration flat or not is given. In case of an affirmative answer, a procedure for finding all possible configuration flat outputs is described. The main idea of the paper consists of relating configuration flatness to concepts of Riemannian geometry. Finally, systems of the above mentioned type, but with additional symmetries are studied, and two examples that illustrate the methods developed are presented.","type":"string"},"datatype":"string"},"type":"statement","id":"Q4388908$DFC72424-BAC5-4AAE-B749-984934EC9FD4","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"1b36a07ef54cdb35a22f99b3335419921ebd0595","datavalue":{"value":"https://resolver.caltech.edu/CaltechCDSTR:1996.018","type":"string"},"datatype":"url"},"type":"statement","id":"Q4388908$C81C552B-ABD0-4D2E-B4CD-E7CA3D9FE481","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Configuration Flatness of Lagrangian Systems Underactuated by One Control","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Configuration_Flatness_of_Lagrangian_Systems_Underactuated_by_One_Control"}}}}}