A Structurally Flat Triangular Form Based on the Extended Chained Form
Dynamical Systems
2023-01-11 v1 Differential Geometry
Optimization and Control
Abstract
In this paper, we present a structurally flat triangular form which is based on the extended chained form. We provide a complete geometric characterization of the proposed triangular form in terms of necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to this triangular form. This yields a sufficient condition for an affine input system to be flat.
Keywords
Cite
@article{arxiv.2007.09935,
title = {A Structurally Flat Triangular Form Based on the Extended Chained Form},
author = {Conrad Gstöttner and Bernd Kolar and Markus Schöberl},
journal= {arXiv preprint arXiv:2007.09935},
year = {2023}
}
Comments
arXiv admin note: substantial text overlap with arXiv:2002.01203