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

Divine Maalouf (1) , Claude H. Moog (2) , Yannick Aoustin (2) , Shun-Jie Li (2)

1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Mots clés: Feedback linearization; Stability; Equilibrium; Nonlinear control systems; Mechanical systems; Feedback linearization.

Domaines: Automatique

Divine Maalouf, Claude H. Moog, Yannick Aoustin, Shun-Jie Li. Maximum feedback linearization with internal stability of 2-DOF underactuated mechanical systems. 18th IFAC World Congress, Aug 2011, Milano, Italy. ⟨hal-00584325⟩