On configuration flatness of linear mechanical systems

Research output: Contribution to book/Conference proceedings/Anthology/ReportConference contributionContributedpeer-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 languageEnglish
Title of host publication2014 European Control Conference (ECC)
Place of PublicationStrasbourg
PublisherIEEE Xplore
Pages1416-1421
Number of pages6
ISBN (print)978-3-9524269-1-3
Publication statusPublished - 22 Jul 2014
Peer-reviewedYes

Publication series

SeriesEuropean Control Conference (ECC)

Conference

Title2014 13th European Control Conference
Abbreviated titleECC 2014
Conference number13
Duration24 - 27 June 2014
LocationStrasbourg Convention & Exhibition Center
CityStrasbourg
CountryFrance

External IDs

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

Keywords