Title :
Multi-input control-affine systems linearizable via one-fold prolongation and their flatness
Author :
Nicolau, Florentina ; Respondek, Witold
Author_Institution :
Lab. de Math., INSA-Rouen, St. Etienne-du-Rouvray, France
Abstract :
We study flatness of multi-input control-affine systems, defined on an n-dimensional state-space. We give a complete geometric characterization of systems that become static feedback linearizable after a one-fold prolongation of a suitably chosen control. They form a particular class of flat systems, that is of differential weight equal to n+m+1, where m is the number of controls. We illustrate our results by an example: the quadrotor helicopter.
Keywords :
aircraft control; feedback; helicopters; linearisation techniques; multidimensional systems; state-space methods; multiinput control-affine systems; n-dimensional state-space; quadrotor helicopter; static feedback; Geometry; Helicopters; Jacobian matrices; Manifolds; Trajectory; Vectors;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760379
