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math.OC2022
Flat singularities of chained systems, illustrated with an aircraft model
Yirmeyahu J. Kaminski, François Ollivier
We consider flat differential control systems for which there exist flat outputs that are part of the state variables and study them using Jacobi bound. We introduce a notion of sa…
math.OC2019★ 3 cited
On Singularities of Flat Affine Systems With States and Controls
Yirmeyahu J. Kaminski, Jean Lévine, François Ollivier
We study the set of intrinsic singularities of flat affine systems with controls and states using the notion of Lie-Bäcklund atlas, previously introduced by the authors.…
math.OC2017★ 3 cited
Intrinsic and Apparent Singularities in Flat Differential Systems
Y. J. Kaminski, J. Levine, F. Ollivier
In this paper, we study the singularities of locally flat systems, motivated by the solution, if it exists, of the global motion planning problem for such systems, in the spirit of…