4 papers · 1 filter
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…
On the Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Systems in Generalized State Representation
Georg Hartl, Conrad Gstöttner, Bernd Kolar +1
In this paper, we examine the exact linearization of configuration flat Lagrangian control systems in generalized state representation with p degrees of freedom and p-1 control inp…
Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States
Georg Hartl, Conrad Gstöttner, Bernd Kolar +1
We study the exact linearization of configuration flat Lagrangian control systems with p degrees of freedom and p-1 inputs by quasi-static feedback of classical states. First, we p…