Rathinam, Muruhan and Murray, Richard M. (1996) Configuration Flatness of Lagrangian Systems Underactuated by One Control. California Institute of Technology . (Unpublished) https://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-006
![]()
|
Other (PDF - - Optimized for printing (1.6MB))
See Usage Policy. 1MB | |
![]()
|
Postscript
See Usage Policy. 189kB |
Use this Persistent URL to link to this item: https://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) | ||||
---|---|---|---|---|---|
ORCID: |
| ||||
Group: | Control and Dynamical Systems Technical Reports | ||||
Record Number: | CaltechCDSTR:1996.CIT-CDS-96-006 | ||||
Persistent URL: | https://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: | 03 Oct 2019 03:28 |
Repository Staff Only: item control page