Analysis of exclusively kinetic two-link underactuated mechanical systems |
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Authors: | Ph. MullhauptAuthor Vitae B. SrinivasanAuthor VitaeD. BonvinAuthor Vitae |
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Affiliation: | Laboratoire d'Automatique, Ecole Polytechnique Fédérale de Lausanne, CH-1015 Lausanne, Switzerland |
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Abstract: | Analysis of exclusively kinetic two-link underactuated mechanical systems is undertaken in this paper. It is first shown that such systems are not full-state feedback linearizable around any equilibrium point. Also, the equilibrium points for which the system is small-time locally controllable (STLC) is at most a one-dimensional submanifold. A concept less restrictive than STLC, termed the small-time local output controllability (STLOC) is introduced, the satisfaction of which guarantees that a chosen configuration output can be controlled at its desired value. It is shown that the class of systems considered is STLOC, if the inertial coupling between the input and output is nonzero. Also, in such a case, the system is nonminimum phase. An example section illustrates all the results presented. |
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Keywords: | Underactuated mechanical system Small-time local controllability Nonminimum phase Configuration output |
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