# Flat outputs of two-input driftless control systems

ESAIM: Control, Optimisation and Calculus of Variations (2012)

- Volume: 18, Issue: 3, page 774-798
- ISSN: 1292-8119

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topLi, Shun-Jie, and Respondek, Witold. "Flat outputs of two-input driftless control systems." ESAIM: Control, Optimisation and Calculus of Variations 18.3 (2012): 774-798. <http://eudml.org/doc/277812>.

@article{Li2012,

abstract = {We study the problem of flatness of two-input driftless control systems. Although a
characterization of flat systems of that class is known, the problems of describing all
flat outputs and of calculating them is open and we solve it in the paper. We show that
all x-flat outputs are parameterized by an arbitrary function of three
canonically defined variables. We also construct a system of 1st order PDE’s whose
solutions give all x-flat outputs of two-input driftless systems. We
illustrate our results by describing all x-flat outputs of models of a
nonholonomic car and the n-trailer system. },

author = {Li, Shun-Jie, Respondek, Witold},

journal = {ESAIM: Control, Optimisation and Calculus of Variations},

keywords = {Control system; flatness; flat output; feedback equivalence; characteristic distribution; n-trailer system; control system; -trailer system},

language = {eng},

month = {11},

number = {3},

pages = {774-798},

publisher = {EDP Sciences},

title = {Flat outputs of two-input driftless control systems},

url = {http://eudml.org/doc/277812},

volume = {18},

year = {2012},

}

TY - JOUR

AU - Li, Shun-Jie

AU - Respondek, Witold

TI - Flat outputs of two-input driftless control systems

JO - ESAIM: Control, Optimisation and Calculus of Variations

DA - 2012/11//

PB - EDP Sciences

VL - 18

IS - 3

SP - 774

EP - 798

AB - We study the problem of flatness of two-input driftless control systems. Although a
characterization of flat systems of that class is known, the problems of describing all
flat outputs and of calculating them is open and we solve it in the paper. We show that
all x-flat outputs are parameterized by an arbitrary function of three
canonically defined variables. We also construct a system of 1st order PDE’s whose
solutions give all x-flat outputs of two-input driftless systems. We
illustrate our results by describing all x-flat outputs of models of a
nonholonomic car and the n-trailer system.

LA - eng

KW - Control system; flatness; flat output; feedback equivalence; characteristic distribution; n-trailer system; control system; -trailer system

UR - http://eudml.org/doc/277812

ER -

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