Related papers: A Structurally Flat Triangular Form for Three-Inpu…
Determining whether a nonlinear multi-input system is differentially flat remains challenging. One way to obtain computationally tractable sufficient conditions is to give complete characterizations of flat normal forms. We introduce a…
This paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cases. We derive…
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…
This paper examines a broadly applicable triangular normal form for x-flat control-affine systems with two inputs. First, we show that this triangular form encompasses a wide range of established normal forms. Next, we prove that any x-flat…
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…
The present work establishes necessary and sufficient conditions for a nonlinear system with two inputs to be described by a specific triangular form. Except for some regularity conditions, such triangular form is flat. This may lead to the…
We show that every flat nonlinear discrete-time system with two inputs can be transformed into a structurally flat normal form by state- and input transformations. This normal form has a triangular structure and allows to read off the flat…
In this paper, we give a complete geometric characterization of control systems, with m+1 inputs, locally static feedback equivalent to a triangular form compatible with the chained form, for m=1, respectively with the m-chained form, for…
In this paper, we give normal forms for flat two-input control-affine systems in dimension five that admit a flat output depending on the state only (we call systems with that property x-flat systems). We discuss relations of x-flatness in…
We examine when differentially flat nonlinear control systems with more than two inputs can be rendered static feedback linearizable by a minimal number of prolongations of suitably chosen inputs after applying a static input…
In this paper we consider $(x,u)$-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen control. This result is not only of…
We study the problem to provide a triangular form based on implicit differential equations for non-linear multi-input systems with respect to the flatness property. Furthermore, we suggest a constructive method for the transformation of a…
The purposes of this paper are to classify lower triangular forms and to determine under what conditions a nonlinear system is equivalent to a specific type of lower triangular forms. According to the least multi-indices and the greatest…
A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal…
This paper is motivated by the problem of asymptotically stabilizing invariant sets in the state space of control systems by means of output feedback. The sets considered are smooth embedded in submanifolds and the class of system is…
We consider nonlinear control systems of the so-called generalized triangular form (GTF) with time-varying and periodic dynamics which linearly depends on some external disturbances. Our purpose is to construct a feedback controller which…
In general, flat outputs of a nonlinear system may depend on the system's state and input as well as on an arbitrary number of time derivatives of the latter. If a flat output which also depends on time derivatives of the input is known,…
The paper addresses the exact linearization of flat nonlinear discrete-time systems by generalized static or dynamic feedbacks which may also depend on forward-shifts of the new input. We first investigate the question which forward-shifts…
This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output…
We introduce a task-relative taxonomy of actuator inputs for nonlinear systems within the input-output feedback-linearization framework. Given a flat output specifying the task, inputs are classified as essential, redundant, or dexterity:…