Mechanical linearization of mechanical control systems without controllability assumption

DOI10.1016/J.AUTOMATICA.2023.111098MaRDI QIDQ6109985zbMATH OpenOpenAlexFDO

Authors Marcin Nowicki, Witold Respondek

Publication date 31 July 2023

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2023.111098

zbMATH Keywords

feedback linearizationgeometric control theorylinear/nonlinear modelsmechanical systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Linearizations (93B18) Geometric methods (93B27) Feedback control (93B52)

Review text

In this paper, the authors investigate on mechanical linearization of mechanical control systems without controllability assumption. More precisely, they present a linearization procedure of mechanical control systems that preserves the mechanical structure of the system, i.e., the mechanical linearization.

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Cited in

(5)

• On the linearization of a control system with modal coordinates
• Maximal feedback linearization and its internal dynamics with applications to mechanical systems on \(\mathbb{R}^4\)
• When is a control system mechanical?
• A classification of feedback linearizable mechanical systems with 2 degrees of freedom
• Input-output linearization and decoupling of mechanical control systems

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