On configuration flatness of linear mechanical systems

Publikation: Beitrag in Buch/Konferenzbericht/Sammelband/GutachtenBeitrag in KonferenzbandBeigetragenBegutachtung

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

OriginalspracheEnglisch
Titel2014 European Control Conference (ECC)
ErscheinungsortStrasbourg
Herausgeber (Verlag)IEEE Xplore
Seiten1416-1421
Seitenumfang6
ISBN (Print)978-3-9524269-1-3
PublikationsstatusVeröffentlicht - 22 Juli 2014
Peer-Review-StatusJa

Publikationsreihe

ReiheEuropean Control Conference (ECC)

Konferenz

Titel2014 13th European Control Conference
KurztitelECC 2014
Veranstaltungsnummer13
Dauer24 - 27 Juni 2014
OrtStrasbourg Convention & Exhibition Center
StadtStrasbourg
LandFrankreich

Externe IDs

ORCID /0000-0002-3347-0864/work/142255200

Schlagworte