On configuration flatness of linear mechanical systems
Research output: Contribution to book/conference proceedings/anthology/report › Conference contribution › Contributed › peer-review
Contributors
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
Original language | English |
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Title of host publication | 2014 European Control Conference (ECC) |
Place of Publication | Strasbourg |
Publisher | IEEE Xplore |
Pages | 1416-1421 |
Number of pages | 6 |
ISBN (print) | 978-3-9524269-1-3 |
Publication status | Published - 22 Jul 2014 |
Peer-reviewed | Yes |
Publication series
Series | European Control Conference (ECC) |
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Conference
Title | 2014 13th European Control Conference |
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Abbreviated title | ECC 2014 |
Conference number | 13 |
Duration | 24 - 27 June 2014 |
Location | Strasbourg Convention & Exhibition Center |
City | Strasbourg |
Country | France |
External IDs
ORCID | /0000-0002-3347-0864/work/142255200 |
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