On an implicit triangular decomposition of nonlinear control systems that are 1-flat -- a constructive approach

DOI10.1016/J.AUTOMATICA.2014.04.007zbMATH Open1296.93039arXiv1209.2306OpenAlexW2109978395MaRDI QIDQ458865FDOQ458865

Authors: Markus Schöberl, Kurt Schlacher 

Publication date: 8 October 2014

Published in: Automatica (Search for Journal in Brave)

Abstract: We study the problem to provide a triangular form based on implicit differential equations for non-linear multi-input systems with respect to the flatness property. Furthermore, we suggest a constructive method for the transformation of a given system into that special triangular shape, if possible. The well known Brunovsky form, which is applicable with regard to the exact linearization problem, can be seen as special case of this implicit triangular form. A key tool in our investigation will be the construction of Cauchy characteristic vector fields that additionally annihilate certain codistributions. In adapted coordinates this construction allows to single out variables whose time-evolution can be derived without any integration.

Full work available at URL: https://arxiv.org/abs/1209.2306

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zbMATH Keywords

normal formsnonlinear control systemsdifferential geometrydifferential flatnessPfaffian systems

Mathematics Subject Classification ID

Canonical structure (93B10) Nonlinear systems in control theory (93C10) Multivariable systems, multidimensional control systems (93C35) Geometric methods (93B27) Transformations (93B17)

Cites Work

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Cited In (10)

• A triangular canonical form for a class of 0-flat nonlinear systems
• Orbital decompositions of control systems and multivector fields
• Orbital decompositions and integrable pseudosymmetries of control systems
• A structurally flat triangular form based on the extended chained form
• On geometric properties of triangularizations for nonlinear control systems
• A normal form for two-input forward-flat nonlinear discrete-time systems
• An exterior differential characterization of single-input local transverse feedback linearization
• Differential-geometric decomposition of flat nonlinear discrete-time systems
• An Algorithm for Local Transverse Feedback Linearization
• Necessary and sufficient conditions for the linearisability of two-input systems by a two-dimensional endogenous dynamic feedback

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