References & Citations
Electrical Engineering and Systems Science > Systems and Control
Title: Feedback Linearizable Discretizations of Second Order Mechanical Systems using Retraction Maps
(Submitted on 27 Mar 2024)
Abstract: Mechanical systems, in nature, are often described by a set of continuous-time, nonlinear, second-order differential equations (SODEs). This has motivated designs of various control laws implemented on digital controllers, consequently requiring numerical discretization schemes. Feedback linearizability of such sampled systems depends on the discretization scheme or map choice. In this article, we utilize retraction maps and their lifts to construct feedback linearizable discretizations for SODEs, which can be applied to various mechanical systems.
Link back to: arXiv, form interface, contact.