Configuration Flatness of Lagrangian Systems Underactuated by One Control
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Publication:4388908
DOI10.1137/S0363012996300987zbMath0911.93027MaRDI QIDQ4388908
Richard M. Murray, Muruhan Rathinam
Publication date: 10 May 1998
Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)
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Configuration flatness of Lagrangian control systems with fewer controls than degrees of freedom ⋮ On necessary and sufficient conditions for differential flatness ⋮ On an implicit triangular decomposition of nonlinear control systems that are 1-flat -- a constructive approach ⋮ On the computation of \(\pi\)-flat outputs for linear time-varying differential-delay systems ⋮ Design of differentially flat planar space robots and their planning and control ⋮ Stabilization of relative equilibria for underactuated systems on Riemannian manifolds ⋮ Trajectory design for mechanical control systems: from geometry to algorithms ⋮ Differential flatness of two one-forms in arbitrary number of variables ⋮ Freedom in coordinate transformation for exact linearization and its application to transient behavior improvement ⋮ Identification of differentially flat output of underactuated dynamic systems
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