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A Test for Differential Flatness by Reduction to Single Input Systems

Rathinam, Muruhan and Sluis, Willem M. (1995) A Test for Differential Flatness by Reduction to Single Input Systems. California Institute of Technology , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:1995.018

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Abstract

For nonlinear control systems (p inputs), we present a test for flatness. The method consists of making an initial guess for p-1 of the flat outputs, which may involve parameters still to be determined. A choice of functions of time for the p-1 outputs reduce the system to one with a single input. For single input systems the problem of flatness has been solved and thus leads to the identification of the last flat output, or to obstructions to flatness under the hypotheses. We demonstrate the method for a coupled rigid body in ℝ2 and for a single rigid body in ℝ3.


Item Type:Report or Paper (Technical Report)
Additional Information:It is a pleasure to thank Richard Murray for suggesting the examples in this paper as well as for many valuable comments. Research supported in part by a grant from the Powell Foundation and by NSF Grant CMS-9502224.
Group:Control and Dynamical Systems Technical Reports
Subject Keywords:Nonlinear Control, Differential Flatness, Pfaffian System, Feedback Linearization, Cartan Prolongation
Record Number:CaltechCDSTR:1995.018
Persistent URL:http://resolver.caltech.edu/CaltechCDSTR:1995.018
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28098
Collection:CaltechCDSTR
Deposited By: Imported from CaltechCDSTR
Deposited On:13 Oct 2006
Last Modified:26 Dec 2012 14:30

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