On dynamic feedback linearization of four-dimensional affine control systems with two inputs
Jean-Baptiste Pomet (1997)
ESAIM: Control, Optimisation and Calculus of Variations
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Jean-Baptiste Pomet (1997)
ESAIM: Control, Optimisation and Calculus of Variations
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Perruquetti, W., Richard, J.P., Borne, P. (2001)
Mathematical Problems in Engineering
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Bressan, A. (1998)
Rendiconti del Seminario Matematico
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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...
Zuyev, Alexander, Sawodny, Oliver (2007)
Mathematical Problems in Engineering
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Alessandro De Luca, Maria Domenica Di Benedetto (1993)
Kybernetika
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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...