4 papers
Analytic Optimal Control for a Class of Driftless x-Flat Systems
Raphael Buchinger, Georg Hartl, Lukas Ecker +1
This paper studies optimal trajectory-tracking for driftless, x-flat nonlinear systems with three states and two inputs. The tracking problem is formulated in Bolza form with a qua…
A Structurally Flat Triangular Form for Three-Input Systems
Georg Hartl, Conrad Gstöttner, Markus Schöberl
We present a broadly applicable structurally flat triangular form for x-flat control-affine systems with three inputs. Building on recent results for the derivative structure of fl…
On the Linearization of Flat Multi-Input Systems via Prolongations
Georg Hartl, Conrad Gstöttner, Markus Schöberl
We examine when differentially flat nonlinear control systems with more than two inputs can be rendered static feedback linearizable by a minimal number of prolongations of suitabl…
Testing Backward-Flatness of Nonlinear Discrete-Time Systems
Johannes Schrotshamer, Bernd Kolar, Markus Schöberl
Despite ongoing research, testing the flatness of discrete-time systems remains a challenging problem. To date, only the property of forward-flatness - a special case of difference…