Remarks on a Triangular Form for 1-Flat Pfaffian Systems with Two Inputs

Kolar, Bernd; Schöberl, Markus; Schlacher, Kurt

doi:10.1016/j.ifacol.2015.09.168

Cited by 7 publications

(4 citation statements)

References 11 publications

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“…Note that for a (x, u)-flat output where ϕ j = ϕ j (x, u) actually depends on u, we have k j = 0. Furthermore, similar as in Kolar et al (2015) and Kolar (2017), let us introduce the codistributions…”

Section: Preliminariesmentioning

confidence: 99%

On the Linearization of Flat Two-Input Systems by Prolongations and Applications to Control Design

Gstöttner,

Kolar,

Schöberl

2019

Preprint

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In this paper we consider (x, u)-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen control. This result is not only of theoretical interest, but has also important implications on the design of flatness based tracking controls. We show that a tracking control based on quasi-static state feedback can always be designed in such a way that only measurements of a (classical) state of the system, and not measurements of a generalized Brunovsky state, as reported in the literature, are required.

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Section: Preliminariesmentioning

confidence: 99%

On the Linearization of Flat Two-Input Systems by Prolongations and Applications to Control Design

Gstöttner,

Kolar,

Schöberl

2019

Preprint

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“…Recent research in the field of flatness can be found in e.g. Schöberl et al (2010), Schlacher and Schöberl (2013), Li et al (2013), Schöberl and Schlacher (2014), Kolar et al (2015), Nicolau and Respondek (2017). Structurally flat triangular forms are of special interest in the problem of deriving flat outputs for nonlinear control systems.…”

Section: Introductionmentioning

confidence: 99%

A structurally flat triangular form based on the extended chained form

Gstöttner

Kolar

Schöberl

2020

International Journal of Control

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In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterisation of the proposed triangular form in terms of necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to this triangular form. This yields a sufficient condition for an affine input system to be flat.

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“…In contrast to the static feedback linearization problem, which is completely solved, see Jakubczyk and Respondek (1980), Nijmeijer and van der Schaft (1990), there are many open problems concerning flatness. Recent research in the field of flatness can be found in e. g. Schöberl et al (2010), Schlacher and Schöberl (2013), Li et al (2013), Schöberl and Schlacher (2014), Nicolau and Respondek (2014), Kolar et al (2015), Nicolau and Respondek (2017).…”

Section: Introductionmentioning

confidence: 99%

On a Flat Triangular Form Based on the Extended Chained Form

Gstöttner,

Kolar,

Schöberl

2020

Preprint

Self Cite

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Remarks on a Triangular Form for 1-Flat Pfaffian Systems with Two Inputs

Cited by 7 publications

References 11 publications

On the Linearization of Flat Two-Input Systems by Prolongations and Applications to Control Design

On the Linearization of Flat Two-Input Systems by Prolongations and Applications to Control Design

A structurally flat triangular form based on the extended chained form

On a Flat Triangular Form Based on the Extended Chained Form

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