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

DOI10.1016/J.AUTOMATICA.2014.04.007MaRDI QIDQ458865zbMATH OpenOpenAlexFDO

Authors Markus Schöberl, Kurt Schlacher

Publication date 8 October 2014

Published in Automatica (Search for Journal in Brave)

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

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)

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.

Recommendations

• On geometric properties of triangularizations for nonlinear control systems
• A triangular canonical form for a class of 0-flat nonlinear systems
• On necessary and sufficient conditions for differential flatness
• Relative flatness and flatness of implicit systems
• A flat triangular form for nonlinear systems with two inputs: necessary and sufficient conditions

Cites work

• scientific article; zbMATH DE number 48987 (Why is no real title available?)
• A Lie-Backlund approach to equivalence and flatness of nonlinear systems
• A linear algebraic framework for dynamic feedback linearization
• A triangular canonical form for a class of 0-flat nonlinear systems
• Analysis and control of nonlinear systems. A flatness-based approach
• Configuration Flatness of Lagrangian Systems Underactuated by One Control
• Flatness and defect of non-linear systems: introductory theory and examples
• On dynamic feedback linearization of four-dimensional affine control systems with two inputs
• On necessary and sufficient conditions for differential flatness
• Sufficient Conditions for Dynamic State Feedback Linearization

Cited in

(10)

• Orbital decompositions of control systems and multivector fields
• A triangular canonical form for a class of 0-flat nonlinear systems
• 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

This page was built for publication: On an implicit triangular decomposition of nonlinear control systems that are 1-flat -- a constructive approach

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q458865)