Configuration Flatness of Lagrangian Systems Underactuated by One Control
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Publication:4388908
DOI10.1137/S0363012996300987zbMATH Open0911.93027MaRDI QIDQ4388908FDOQ4388908
Richard M. Murray, Muruhan Rathinam
Publication date: 10 May 1998
Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)
Dynamical aspects of finite-dimensional Hamiltonian and Lagrangian systems (37J99) Nonlinear systems in control theory (93C10)
Cited In (12)
- Trajectory design for mechanical control systems: from geometry to algorithms
- Configuration flatness of Lagrangian control systems with fewer controls than degrees of freedom
- Input-output linearization and decoupling of mechanical control systems
- Freedom in coordinate transformation for exact linearization and its application to transient behavior improvement
- Differential flatness of two one-forms in arbitrary number of variables
- On an implicit triangular decomposition of nonlinear control systems that are 1-flat -- a constructive approach
- Identification of differentially flat output of underactuated dynamic systems
- Design of differentially flat planar space robots and their planning and control
- On necessary and sufficient conditions for differential flatness
- An approximate characterisation of the set of feasible trajectories for constrained flat systems
- On the computation of \(\pi\)-flat outputs for linear time-varying differential-delay systems
- Stabilization of relative equilibria for underactuated systems on Riemannian manifolds
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