A flat triangular form for nonlinear systems with two inputs: necessary and sufficient conditions

DOI10.1016/J.EJCON.2015.01.001zbMath1367.93109arXiv1312.3527OpenAlexW2964082798MaRDI QIDQ2012001

Hector B. Silveira, Pierre Rouchon, Paulo Sérgio Pereira da Silva

Publication date: 27 July 2017

Published in: European Journal of Control (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1312.3527

zbMATH Keywords

nonlinear systemsexterior differential systemsdifferential flatnesstriangular forms

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Canonical structure (93B10)

Related Items (2)

Multi-input control-affine systems static feedback equivalent to a triangular form and their flatness ⋮ A structurally flat triangular form based on the extended chained form

Cites Work

• Analysis and control of nonlinear systems. A flatness-based approach
• Nonlinear systems. Analysis, stability, and control
• Nilpotent bases for a class of nonintegrable distributions with applications to trajectory generation for nonholonomic systems
• Feedback linearization and driftless systems
• A triangular canonical form for a class of 0-flat nonlinear systems
• Nonholonomic motion planning: steering using sinusoids
• Trajectory generation for the N-trailer problem using Goursat normal form
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