Flat outputs of two-input driftless control systems
نویسندگان
چکیده
منابع مشابه
Describing and Calculating Flat Outputs of Two-input Driftless Control Systems
We study the problem of flatness of two-input driftless control systems. Although a characterization of flat systems of that class is known, the problems of describing all flat outputs and of calculating them is open. We show that all x-flat outputs are parameterized by an arbitrary function of three canonically defined variables. We also construct a system of 1 order PDE’s whose solutions give...
متن کاملA Global Steering Method for Driftless Control-Affine Systems
In this paper, we extend the globally convergent steering algorithm introduced in [13] for regular nonholonomic systems to general systems with singularities. This extension is based on the explicit construction of a lifted system which is regular. We also propose an exact motion planning method for nilpotent systems, which makes use of sinusoidal control laws and generalizes the algorithm pres...
متن کاملInput-to-state Stabilization of Linear Systems with Positive Outputs
This paper considers the problem of stabilization of linear systems for which only the magnitudes of outputs are measured. It is shown that, if a system is controllable and observable, then one can nd a stabilizing controller, which is robust with respect to observation noise (in the ISS sense).
متن کاملInput-to-State Stabilization of Linear Systems with Positive Outputs
This paper considers the problem of stabilization of linear systems for which only the magnitudes of outputs are measured. It is shown that, if a system is controllable and observable, then one can find a stabilizing controller, which is robust with respect to observation noise (in the ISS sense).
متن کاملFeedback linearization and driftless systems
The problem of dynamic feedback linearization is recast using the notion of dynamic immersion. We investigate here a “generic” property which holds at every point of a dense open subset, but may fail at some points of interest, such as equilibrium points. Linearizable systems are then systems that can be immersed into linear controllable ones. This setting is used to study the linearization of ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: ESAIM: Control, Optimisation and Calculus of Variations
سال: 2011
ISSN: 1292-8119,1262-3377
DOI: 10.1051/cocv/2011181