• DocumentCode
    2571096
  • Title

    Feedback linearization for stabilization of a class of mobile, multibody systems

  • Author

    De Souza, Eric Conrado ; Maruyama, Newton

  • Author_Institution
    Centro Univ. da FEI, São Bernardo do Campo, Brazil
  • fYear
    2010
  • fDate
    15-17 Dec. 2010
  • Firstpage
    3590
  • Lastpage
    3595
  • Abstract
    In this note we propose the input structure for a system of multi-articulated bodies and undertake the evaluation of some system input scenarios and the corresponding methods for which the proposed multibody system stabilization is possible. The system input structure analysis plays a major role in this regard. We concentrate attention on cases that allow for stabilization through feedback linearization.
  • Keywords
    feedback; mobile robots; stability; feedback linearization; mobile system stabilization; multiarticulated body; multibody system stabilization; system input structure analysis; Aerospace electronics; Controllability; Joints; Nonlinear dynamical systems; Propulsion; Robots;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control (CDC), 2010 49th IEEE Conference on
  • Conference_Location
    Atlanta, GA
  • ISSN
    0743-1546
  • Print_ISBN
    978-1-4244-7745-6
  • Type

    conf

  • DOI
    10.1109/CDC.2010.5717336
  • Filename
    5717336
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2571096