Open AccessClassification of two‐degree‐of‐freedom underactuated mechanical systems
Author(s) -
Maalouf Divine,
Moog Claude H.,
Aoustin Yannick,
Li Shunjie
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.0280
Subject(s) - control theory (sociology) , mechanical system , constraint (computer aided design) , degree (music) , stability (learning theory) , underactuation , computer science , degrees of freedom (physics and chemistry) , mathematics , control engineering , control (management) , engineering , artificial intelligence , physics , acoustics , geometry , quantum mechanics , machine learning
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.