Title :
Any (controllable) driftless system with m inputs and m+2 states is flat
Author :
Martin, Philippe ; Rouchon, Pierre
Author_Institution :
Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France
Abstract :
We show that any controllable driftless system with m inputs and m+2 states is flat and can be put into multi-input chained form by dynamic feedback and coordinate change. The result follows from a classification of Pfaffian systems of two equations
Keywords :
differential equations; dynamics; feedback; kinematics; nonlinear control systems; Pfaffian systems; controllable driftless system; coordinate change; dynamic feedback; kinematic constraint; nonholonomic systems; Constraint theory; Control systems; Control theory; Equations; Kinematics; Mechanical systems; Path planning; State feedback; Systems engineering and theory; Trajectory;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478580
