A Structurally Flat Triangular Form Based on the Extended Chained Form

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.

arXiv admin note: substantial text overlap with arXiv:2002.01203

References in corpus (1)

• A Structurally Flat Triangular Form Based on the Extended Chained Form

Cited by in corpus (10)

• Necessary and Sufficient Conditions for the Linearizability of Two-Input Systems by a Two-Dimensional Endogenous Dynamic Feedback
• A Structurally Flat Triangular Form Based on the Extended Chained Form
• Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States
• Normal forms for x-flat two-input control-affine systems in dimension five
• A Finite Test for the Linearizability of Two-Input Systems by a Two-Dimensional Endogenous Dynamic Feedback
• A Triangular Normal Form for x-Flat Control-Affine Two-Input Systems
• Discrete-time Flatness-based Controller Design using an Implicit Euler-discretization
• Discrete-time Flatness-based Control of a Gantry Crane
• On Triangular Forms for x-Flat Control-Affine Systems With Two Inputs
• Flat singularities of chained systems, illustrated with an aircraft model