Any (controllable) driftless system with 3 inputs and 5 states is flat

DOI10.1016/0167-6911(94)00060-9MaRDI QIDQ673036zbMATH OpenOpenAlexFDO

Authors Philippe Martin, Pierre Rouchon

Publication date 28 February 1997

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0167-6911(94)00060-9

zbMATH Keywords

Pfaffian systemsAbsolute equivalenceChained formDriftless systemsDynamic feedback linearizationFlatnessNonholonomic systems

Mathematics Subject Classification ID

Linearizations (93B18) Pfaffian systems (58A17)

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Cites work

• scientific article; zbMATH DE number 3816644 (Why is no real title available?)
• scientific article; zbMATH DE number 25388 (Why is no real title available?)
• scientific article; zbMATH DE number 48987 (Why is no real title available?)
• scientific article; zbMATH DE number 3800064 (Why is no real title available?)
• Feedback linearization and driftless systems
• Nilpotent bases for a class of nonintegrable distributions with applications to trajectory generation for nonholonomic systems
• Nonholonomic motion planning: steering using sinusoids
• On a new differential geometric setting in nonlinear control
• On dynamic feedback linearization
• The GS algorithm for exact linearization to Brunovsky normal form
• Trajectory generation for the N-trailer problem using Goursat normal form

Cited in

(4)

• Feedback linearization and driftless systems
• On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors
• Differential flatness of two one-forms in arbitrary number of variables
• Flat outputs of two-input driftless control systems

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