Configuration Flatness of Lagrangian Systems Underactuated by One Control

DOI10.1137/S0363012996300987MaRDI QIDQ4388908zbMATH OpenFDO

Authors Muruhan Rathinam, Richard M. Murray

Publication date 10 May 1998

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

zbMATH Keywords

nonlinear controlLagrangian mechanicsdifferential flatnessconfiguration flat outputs

Mathematics Subject Classification ID

Dynamical aspects of finite-dimensional Hamiltonian and Lagrangian systems (37J99) Nonlinear systems in control theory (93C10)

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Cited in

(13)

• Input-output linearization and decoupling of mechanical control systems
• Design of differentially flat planar space robots and their planning and control
• Freedom in coordinate transformation for exact linearization and its application to transient behavior improvement
• On the computation of \(\pi\)-flat outputs for linear time-varying differential-delay systems
• Configuration flatness of Lagrangian control systems with fewer controls than degrees of freedom
• Stabilization of relative equilibria for underactuated systems on Riemannian manifolds
• Trajectory design for mechanical control systems: from geometry to algorithms
• On necessary and sufficient conditions for differential flatness
• Identification of differentially flat output of underactuated dynamic systems
• The geometry, controllability, and flatness property of the \(n\)-bar system
• Differential flatness of two one-forms in arbitrary number of variables
• An approximate characterisation of the set of feasible trajectories for constrained flat systems
• On an implicit triangular decomposition of nonlinear control systems that are 1-flat -- a constructive approach

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