On configuration flatness of linear mechanical systems
Publikation: Beitrag in Buch/Konferenzbericht/Sammelband/Gutachten › Beitrag in Konferenzband › Beigetragen › Begutachtung
Beitragende
Abstract
The concept of differential flatness is an elegant approach to system analysis and the design of controllers and observers. In many cases, however, the main difficulty is the determination of a flat output. For holonomic mechanical systems the notion of 'configuration flatness' was introduced some years ago, meaning that a flat output is a function only of configuration variables (and not of the velocities nor the input). Obviously, such a property could drastically facilitate the search for a flat output. In this contribution, we show on the basis of a polynomial matrix representation that for linear conservative mechanical systems left coprimeness (i. e., controllability), which is equivalent to (general) flatness, implies configuration flatness.
Details
Originalsprache | Englisch |
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Titel | 2014 European Control Conference (ECC) |
Erscheinungsort | Strasbourg |
Herausgeber (Verlag) | IEEE Xplore |
Seiten | 1416-1421 |
Seitenumfang | 6 |
ISBN (Print) | 978-3-9524269-1-3 |
Publikationsstatus | Veröffentlicht - 22 Juli 2014 |
Peer-Review-Status | Ja |
Publikationsreihe
Reihe | European Control Conference (ECC) |
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Konferenz
Titel | 2014 13th European Control Conference |
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Kurztitel | ECC 2014 |
Veranstaltungsnummer | 13 |
Dauer | 24 - 27 Juni 2014 |
Ort | Strasbourg Convention & Exhibition Center |
Stadt | Strasbourg |
Land | Frankreich |
Externe IDs
ORCID | /0000-0002-3347-0864/work/142255200 |
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