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

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2010-12-15
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SOUZA, E. C.
MARUYANA, N.
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Proceedings of the IEEE Conference on Decision and Control
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SOUZA, E. C.; MARUYANA, N. Feedback linearization for stabilization of a class of mobile, multibody systems. Proceedings of the IEEE Conference on Decision and Control, p. 3590-3595, Dec. 2010.
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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. ©2010 IEEE.

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