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

DOI10.1016/0167-6911(94)00060-9zbMath0877.93023OpenAlexW2174625940MaRDI QIDQ673036

Pierre Rouchon, Philippe Martin

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 systemsNonholonomic systemsAbsolute equivalenceChained formDriftless systemsDynamic feedback linearizationFlatness

Mathematics Subject Classification ID

Linearizations (93B18) Pfaffian systems (58A17)

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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

Cites Work

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• On a new differential geometric setting in nonlinear control
• On dynamic feedback linearization
• Feedback linearization and driftless systems
• Nonholonomic motion planning: steering using sinusoids
• The GS algorithm for exact linearization to Brunovsky normal form
• Trajectory generation for the N-trailer problem using Goursat normal form

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