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Communication dans un congrès

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.
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Communication dans un congrès
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01250486
Contributeur : François Chaplais <>
Soumis le : lundi 4 janvier 2016 - 19:35:36
Dernière modification le : jeudi 24 septembre 2020 - 17:04:18

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  • HAL Id : hal-01250486, version 1

Citation

Sylvain Finet, Laurent Praly. Feedback Linearization of the Transverse Dynamics for a Class of One Degree Underactuated Systems. 2015 IEEE 54th Annual Conference on Decision and Control (CDC 2015), Dec 2015, Osaka, Japan. pp.7802-7807. ⟨hal-01250486⟩

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