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2021-08-06T00:49:52+00:00
Flat systems, equivalence and trajectory generation
0
en
Flat systems, an important subclass of nonlinear control systems introduced
via differential-algebraic methods, are deﬁned in a differential
geometric framework. We utilize the inﬁnite dimensional geometry developed
by Vinogradov and coworkers: a control system is a diffiety, or more
precisely, an ordinary diffiety, i.e. a smooth inﬁnite-dimensional manifold
equipped with a privileged vector ﬁeld. After recalling the deﬁnition of
a Lie-Backlund mapping, we say that two systems are equivalent if they
are related by a Lie-Backlund isomorphism. Flat systems are those systems
which are equivalent to a controllable linear one. The interest of
such an abstract setting relies mainly on the fact that the above system
equivalence is interpreted in terms of endogenous dynamic feedback. The
presentation is as elementary as possible and illustrated by the VTOL
aircraft.
Phillipe Martin, Richard Murray, Pierre Rouchon
2003d
CDS Technical Report
mmr03-cds
Technical
Report
2016-05-15T06:18:44Z
2457523.7630093
Flat systems, equivalence and trajectory generation
Title
102
en
Title