CaltechAUTHORS
  A Caltech Library Service

Configuration Flatness of Lagrangian Systems Underactuated by One Control

Rathinam, Muruhan and Murray, Richard M. (1996) Configuration Flatness of Lagrangian Systems Underactuated by One Control. California Institute of Technology . (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-006

[img]
Preview
Other (PDF - - Optimized for printing (1.6MB))
See Usage Policy.

1563Kb
[img]
Preview
Postscript
See Usage Policy.

184Kb

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-006

Abstract

Lagrangian control systems that are differentially flat with flat outputs that only depend on configuration variables are said to be configuration flat. We provide a complete characterisation of configuration flatness for systems with $n$ degrees of freedom and $n-1$ controls whose range of control forces only depends on configuration and whose Lagrangian has the form of kinetic energy minus potential. The method presented allows us to determine if such a system is configuration flat and, if so provides a constructive method for finding all possible configuration flat outputs. Our characterisation relates configuration flatness to Riemannian geometry. We illustrate the method by two examples.


Item Type:Report or Paper (Technical Report)
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:1996.CIT-CDS-96-006
Persistent URL:http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-006
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28012
Collection:CaltechCDSTR
Deposited By: Imported from CaltechCDSTR
Deposited On:15 Oct 2002
Last Modified:26 Dec 2012 14:28

Repository Staff Only: item control page