On a Flat Triangular Form Based on the Extended Chained Form
Dynamical Systems
2021-07-29 v2 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 necessary and sufficient conditions for an affine input system with two inputs to be static feedback equivalent to the proposed triangular form, and thus a sufficient condition for an affine input system to be flat.
Keywords
Cite
@article{arxiv.2002.01203,
title = {On a Flat Triangular Form Based on the Extended Chained Form},
author = {Conrad Gstöttner and Bernd Kolar and Markus Schöberl},
journal= {arXiv preprint arXiv:2002.01203},
year = {2021}
}
Comments
simplified notation, added references, corrected typos, different example