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Journal Articles IET Control Theory and Applications Year : 2015

Classification of two-degree-of-freedom underactuated mechanical systems

Abstract

A new classification for two-degree-of-freedom mechanical systems is introduced, based on structural control properties. The largest feedback linearisable subsystem with internal stability is considered for such systems. The classification is depending on the closed-loop system that can be achieved under the constraint of internal stability. It is shown that the generalised conjugate momenta corresponding to each degree of freedom play a crucial role for the considered mechanical systems.

Dates and versions

hal-01152350 , version 1 (16-05-2015)

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Divine Maalouf, Claude H. Moog, Yannick Aoustin, Shunjie Li. Classification of two-degree-of-freedom underactuated mechanical systems. IET Control Theory and Applications, 2015, 9 (10), pp.1501-1510. ⟨10.1049/iet-cta.2014.0280⟩. ⟨hal-01152350⟩
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