Displaying similar documents to “Flatness and Monge parameterization of two-input systems, control-affine with 4 states or general with 3 states”

Differential flatness and defect: an overview

Michel Fliess, Jean Lévine, Philippe Martin, Pierre Rouchon (1995)

Banach Center Publications

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We introduce flat systems, which are equivalent to linear ones via a special type of feedback called endogenous. Their physical properties are subsumed by a linearizing output and they might be regarded as providing another nonlinear extension of Kalman's controllability. The distance to flatness is measured by a non-negative integer, the defect. We utilize differential algebra which suits well to the fact that, in accordance with Willems' standpoint, flatness and defect are best defined...

A continuation method for motion-planning problems

Yacine Chitour (2006)

ESAIM: Control, Optimisation and Calculus of Variations

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We apply the well-known homotopy continuation method to address the motion planning problem (MPP) for smooth driftless control-affine systems. The homotopy continuation method is a Newton-type procedure to effectively determine functions only defined implicitly. That approach requires first to characterize the singularities of a surjective map and next to prove global existence for the solution of an ordinary differential equation, the Wazewski equation. In the context of the MPP, the...