Title :
Linearization by prolongations of two-input driftless systems
Author :
Fossas, Enric ; Franch, Jaume ; Agrawal, Sunil K.
Author_Institution :
Inst. of Org. & Control, Universtiat Politecnica de Catalunya, Barcelona, Spain
Abstract :
Deals with the problem of linearization by prolongations of two-input driftless systems. For general two-input systems, the number of computations needed to check if a system is linearizable by prolongations is quite large. However, for driftless systems, the conditions presented in the paper require very few computations. The methodology is illustrated for some engineering systems which fulfill these conditions, e.g., a unicycle, a planar robot, and a hopping robot
Keywords :
feedback; linearisation techniques; nonlinear control systems; robots; velocity control; engineering systems; hopping robot; planar robot; prolongations; two-input driftless systems; unicycle; Books; Communication system control; Feedback; Linear systems; Mathematics; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Robots; Systems engineering and theory;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912225
