相关论文: On Necessary and Sufficient Conditions for Differe…
In this article, we introduce the notion of differential flatness by pure prolongation: loosely speaking, a system admits this property if, and only if, there exists a pure prolongation of finite order such that the prolonged system is…
In this contribution we discuss flat discrete-time nonlinear systems in a general setting including two special subclasses, namely, forward- and backward-flat systems. We relate rank conditions for certain submatrices of the Jacobian of the…
In this paper, we study the singularities of locally flat systems, motivated by the solution, if it exists, of the global motion planning problem for such systems, in the spirit of \cite{CE_14}. More precisely, flat outputs may be only…
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 obtain many objects of discrete differential geometry as reductions of skew parallelogram nets, a system of lattice equations that may be formulated for any unit associative algebra. The Lax representation is linear in the spectral…
Flatness of discrete-time systems can be characterized by two simple properties. There exists a map, a submersion, from the flat coordinates and their forward shifts to the state and the input of the discrete-time system, such that the…
We consider flat differential control systems for which there exist flat outputs that are part of the state variables and study them using Jacobi bound. We introduce a notion of saddle Jacobi bound for an ordinary differential system of $n$…
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…
We show that the flatness of a nonlinear discrete-time system can be checked by computing a unique sequence of involutive distributions. The well-known test for static feedback linearizability is included as a special case. Since the…
A discrete nonlinear system is analysed in case of open chain boundary conditions at the ends. It is shown that the integrability of the system remains intact, by obtaining a modified set of Lax equations which automatically take care of…
We construct rational models for classifying spaces of self-equivalences of bundles over simply connected finite CW-complexes relative to a given simply connected subcomplex. Via work of Berglund-Madsen and Krannich this specializes to…
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…
Differential flatness enables efficient planning and control for underactuated robotic systems, but we lack a systematic and practical means of identifying a flat output (or determining whether one exists) for an arbitrary robotic system.…
We give sufficient conditions for cohomological flatness (in dimension 0) over discrete valuation rings, generalizing classical results of Raynaud in two different ways. The first is a higher dimensional generalization of Raynaud's…
Modern statistical learning theory and deep learning characterize generalization primarily in terms of continuous capacity control (e.g., norm-based regularization, margin maximization, low-rank bias). While highly successful in continuous…
Let's consider a control system described by the implicit equation $F(x,\dot x) = 0$. If this system is differentially flat, then the following criterion is satisfied : For some integer $r$, there exists a function $\varphi(y_0, y_1,…
The coincidence between polynomial neural networks and matrix Lie maps is discussed in the article. The matrix form of Lie transform is an approximation of the general solution of the nonlinear system of ordinary differential equations. It…
In the last chapter of his book "The Algebraic Theory of Modular Systems " published in 1916, F. S. Macaulay developped specific techniques for dealing with " unmixed polynomial ideals " by introducing what he called " inverse systems ".…
This paper deals with linear time-varying, delay systems. Extensions of the concept of differential flatness \cite{Fliess_95} to this context have been first proposed in \cite{Mounier_95,Fliess_96} (see also \cite{Rudolph_03,Chyzak_05}), by…
In this paper the complete geometrical setting of (lowest order) abelian T-duality is explored with the help of some new geometrical tools (the reduced formalism). In particular, all invariant polynomials (the integrands of the…