• DocumentCode
    1811814
  • Title

    General n-trailer, differential flatness and equivalence

  • Author

    Altafini, Claudio

  • Author_Institution
    Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden
  • Volume
    3
  • fYear
    1999
  • fDate
    1999
  • Firstpage
    2144
  • Abstract
    We show, via an example, a possible way to place the concept of differential flatness into the more general setting of equivalence a la Cartan (1953). In particular we show that a general n-trailer, which is not differentially flat, is anyway equivalent to its differentially flat counterpart, namely the standard n-trailer, along any smooth input trajectory
  • Keywords
    differential equations; matrix algebra; motion control; path planning; differential flatness; equivalence; general n-trailer; smooth input trajectory; Algebra; Control systems; Differential equations; Input variables; Kinematics; Polynomials; Terminology; Vectors;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
  • Conference_Location
    Phoenix, AZ
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-5250-5
  • Type

    conf

  • DOI
    10.1109/CDC.1999.831237
  • Filename
    831237
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1811814