Input-output linearization and decoupling of mechanical control systems

TL;DR

This paper addresses input-output linearization and decoupling in mechanical control systems, emphasizing the importance of preserving mechanical structure and deriving conditions expressed on the configuration space.

Contribution

It introduces new conditions for linearization and decoupling that account for mechanical structure preservation, extending classical control methods.

Findings

Derived conditions expressed on configuration space.

Illustrated results with multiple mechanical system examples.

Highlighted differences from classical control solutions.

Abstract

In this work, we present a problem of simultaneous input-output feedback linearization and decoupling (non-interacting) for mechanical control systems with outputs. We show that the natural requirement of preserving mechanical structure of the system and of transformations imposes supplementary conditions when compared to the classical solution of the same problem for general control systems. These conditions can be expressed using objects on the configuration space only. We illustrate our results with several examples of mechanical control systems.