Mechanical Feedback Linearization of Single-Input Mechanical Control Systems

DOI10.1109/TAC.2023.3259004MaRDI QIDQ6199982zbMATH OpenOpenAlexFDO

Authors Marcin Nowicki, Witold Respondek

Publication date 29 February 2024

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2301.00087

zbMATH Keywords

feedback linearizationgeometric control theorymechanical systems

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Abstract: We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is 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.

Cited in

(1)

• Input-output linearization and decoupling of mechanical control systems

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