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Conference papers
Feedback Linearization of the Transverse Dynamics for a Class of One Degree Underactuated Systems
Abstract : This paper investigates feedback linearization of one degree underactuated systems the mass matrix of which does not depend on the unactuated variable. We study the dynamics of such systems in a new time scale τ. In this new time scale, we exhibit a set of coordinates for which the dynamics transverse to a particular one-dimensional manifold is dynamic feedback linearizable. To this end, we design a relative degree three output with respect to one input and use dynamic extension. We then introduce a new motion planning algorithm for this class of systems.
https://hal-mines-paristech.archives-ouvertes.fr/hal-01250486
Contributor : François Chaplais <>
Submitted on : Monday, January 4, 2016 - 7:35:36 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM
Contributor : François Chaplais <>
Submitted on : Monday, January 4, 2016 - 7:35:36 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM