Volume 13, Number 2, April-June 2007
|Page(s)||237 - 264|
|Published online||12 May 2007|
Flatness and Monge parameterization of two-input systems, control-affine with 4 states or general with 3 states
INRIA Sophia Antipolis, B.P. 93, 06902 Sophia Antipolis cedex,
France; David.Avanessoff@sophia.inria.fr; Jean-Baptiste.Pomet@sophia.inria.fr
Revised: 30 November 2005
This paper studies Monge parameterization, or differential flatness, of control-affine systems with four states and two controls. Some of them are known to be flat, and this implies admitting a Monge parameterization. Focusing on systems outside this class, we describe the only possible structure of such a parameterization for these systems, and give a lower bound on the order of this parameterization, if it exists. This lower-bound is good enough to recover the known results about “(x,u)-flatness” of these systems, with much more elementary techniques.
Mathematics Subject Classification: 93B18 / 93B29 / 34C20
Key words: Dynamic feedback linearization / flat control systems / Monge problem / Monge equations
© EDP Sciences, SMAI, 2007
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