论文信息 - Maximum feedback linearization with internal stability of 2-DOF underactuated mechanical systems

Maximum feedback linearization with internal stability of 2-DOF underactuated mechanical systems

Abstract Maximum feedback linearization with internal stability is considered. A classification of popular mechanical systems is derived, depending on the achievable closed loop system under the constraint of internal stability. It is shown that the angular momentum plays a crucial role for this class of systems. The study includes the special case of a paraglider which consists essentially of two articulated bodies.

Yannick Aoustin | Claude H. Moog | Shunjie Li | Divine Maalouf

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