n自由度n-2入力の制御ラグランジュ系の配位フラットネス

佐藤 一宏

doi:10.11511/jacc.53.0.268.0

THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 561

DOI https://doi.org/10.11511/jacc.53.0.268.0

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Nonlinear Control

Configuration flatness of Lagrangian control systems with n degrees of freedom and n-2 controls

*Kazuhiro Sato

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Keywords: Configuration Flatness, Lagrangian Control Systems, Riemannian Geometry

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

Lagrangian control systems are said to be configuration flat if its dynamics are determined by configuration flat outputs which only depend on configuration variables. This paper gives a sufficient condition for configuration flatness of Lagrangian control systems with n degrees of freedom and n-2 controls together with a geometric interpretation. The method is applied to a simple example.

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