DocumentCode
1743638
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
Volume
4
fYear
2000
fDate
2000
Firstpage
3381
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location
Sydney, NSW
ISSN
0191-2216
Print_ISBN
0-7803-6638-7
Type
conf
DOI
10.1109/CDC.2000.912225
Filename
912225
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