• DocumentCode
    294329
  • 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
  • Volume
    3
  • fYear
    1995
  • fDate
    13-15 Dec 1995
  • Firstpage
    2886
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
  • Conference_Location
    New Orleans, LA
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-2685-7
  • Type

    conf

  • DOI
    10.1109/CDC.1995.478580
  • Filename
    478580
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=294329