FLATNESS OF MULTI-INPUT CONTROL-AFFINE SYSTEMS LINEARIZABLE VIA ONE-FOLD PROLONGATION

被引：33

作者：

Nicolau, Florentina ^{[1
]}

Respondek, Witold ^{[2
]}

机构：

[1] ENSEA, QUARTZ Lab, 6 Ave Ponceau, F-95014 Cergy Pontoise, France

[2] Normandie Univ, INSA Rouen, Lab Math, F-76801 St Etienne Du Rouvray, France

来源：

SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 2017年 / 55卷 / 05期

关键词：

flatness; flat outputs; differential weight; linearization; EQUIVALENCE;

D O I：

10.1137/140999463

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We study flatness of multi-input control-affine systems. We give a geometric characterization of systems that become static feedback linearizable after an invertible one-fold prolongation of a suitably chosen control. They form a particular class of flat systems. Namely, they are of differential weight n + m + 1, where n is the dimension of the state-space and m is the number of controls. We propose conditions (verifiable by differentiation and algebraic operations) describing that class and provide a system of PDEs giving all minimal flat outputs. We illustrate our results by several examples, in particular, an example of the quadrotor helicopter.

引用

页码：3171 / 3203

页数：33

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