A structurally flat triangular form based on the extended chained form

DOI10.1080/00207179.2020.1841302zbMATH Open1492.93036arXiv2007.09935OpenAlexW3094250331MaRDI QIDQ5863697FDOQ5863697

Authors: Conrad Gstöttner, Bernd Kolar, Markus Schöberl 

Publication date: 3 June 2022

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

Abstract: In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterization 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.

Full work available at URL: https://arxiv.org/abs/2007.09935

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zbMATH Keywords

nonlinear control systemsflatnessnormal-forms

Mathematics Subject Classification ID

Feedback control (93B52) Nonlinear systems in control theory (93C10) Geometric methods (93B27)

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Cited In (9)

• A triangular canonical form for a class of 0-flat nonlinear systems
• A flat triangular form for nonlinear systems with two inputs: necessary and sufficient conditions
• Dynamic feedback linearization of control systems with symmetry
• Tracking control for \((x, u)\)-flat systems by quasi-static feedback of classical states
• On geometric properties of triangularizations for nonlinear control systems
• Multi-input control-affine systems static feedback equivalent to a triangular form and their flatness
• Necessary and sufficient conditions for the linearisability of two-input systems by a two-dimensional endogenous dynamic feedback
• Flat singularities of chained systems, illustrated with an aircraft model
• On feedback linearization of multi-input nonlinear control systems via time scaling and prolongation

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