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Flat systems, equivalence and trajectory generation |
Abstract |
Flat systems, an important subclass of non … Flat systems, an important subclass of nonlinear control systems introduced
via differential-algebraic methods, are defined in a differential
geometric framework. We utilize the infinite dimensional geometry developed
by Vinogradov and coworkers: a control system is a diffiety, or more
precisely, an ordinary diffiety, i.e. a smooth infinite-dimensional manifold
equipped with a privileged vector field. After recalling the definition of
a Lie-Backlund mapping, we say that two systems are equivalent if they
are related by a Lie-Backlund isomorphism. Flat systems are those systems
which are equivalent to a controllable linear one. The interest of
such an abstract setting relies mainly on the fact that the above system
equivalence is interpreted in terms of endogenous dynamic feedback. The
presentation is as elementary as possible and illustrated by the VTOL
aircraft. ible and illustrated by the VTOL
aircraft. +
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Authors | Phillipe Martin, Richard Murray, Pierre Rouchon + |
ID | 2003d + |
Source | CDS Technical Report + |
Tag | mmr03-cds + |
Title | Flat systems, equivalence and trajectory generation + |
Type | Technical Report + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:18:44 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/mmr03-cds.pdf + |
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Flat systems, equivalence and trajectory generation + | Title |
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