Configuration Flatness of Lagrangian Systems Underactuated by One Control

Rathinam, Muruhan and Murray, Richard M. (1996) Configuration Flatness of Lagrangian Systems Underactuated by One Control. Technical Report. California Institute of Technology. [CaltechCDSTR:1996.CIT-CDS-96-006]

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Abstract

Lagrangian control systems that are differentially flat with flat outputs that only depend on configuration variables are said to be configuration flat. We provide a complete characterisation of configuration flatness for systems with $n$ degrees of freedom and $n-1$ controls whose range of control forces only depends on configuration and whose Lagrangian has the form of kinetic energy minus potential. The method presented allows us to determine if such a system is configuration flat and, if so provides a constructive method for finding all possible configuration flat outputs. Our characterisation relates configuration flatness to Riemannian geometry. We illustrate the method by two examples.

EPrint Type:	Monograph (Technical Report)
Subjects:	All Records
ID Code:	13
Deposited By:	Richard M. Murray
Deposited On:	15 October 2002
Unique Identifier:	CaltechCDSTR:1996.CIT-CDS-96-006
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-006
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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