核心概念
Utilizing retraction maps to construct feedback linearizable discretizations for second-order mechanical systems.
摘要
The article discusses the feedback linearizability of second-order mechanical systems using retraction maps. It covers the design of control laws for mechanical systems, discretization schemes on general manifolds, and feedback linearization for nonlinear systems. The content is structured as follows:
- Introduction to control laws for mechanical systems
- Retraction and discretization maps on general manifolds
- Feedback linearization for nonlinear systems
- Constructing feedback linearizable discretizations for second-order mechanical systems
- Example of symmetric discretization and MF-linearizable discretizations
- Stabilization and discretization methods
- Results and comparison with ODE45 for a specific mechanical system
- Conclusions and references
統計資料
"L1 = 0.063 [m]"
"m1 = 0.02 [kg]"
"m2 = 0.3 [kg]"
"J1 = 47 · 10−6 [kg · m2]"
"J2 = 32 · 10−6 [kg · m2]"
"a = 9.81 [ms−2]"
"m0 = 0.3832 [kg · m2s−2]"
"md = 49 · 10−4 [kg · m2]"
引述
"Feedback linearizability of such sampled systems depends on the discretization scheme or map choice."
"Retraction and discretization maps generalize Euclidean discretizations on general manifolds."
"Constructing feedback linearizable discretizations for second-order mechanical systems."