ANY (CONTROLLABLE) DRIFTLESS SYSTEM WITH 3 INPUTS AND 5 STATES IS FLAT

被引：16
作者：
MARTIN, P
ROUCHON, P
机构：
[1] ECOLE MINES PARIS,CTR AUTOMAT & SYST,60 BD ST MICHEL,F-75272 PARIS 06,FRANCE
[2] UNIV CALIF SANTA BARBARA,INST ENGN,CTR CONTROL ENGN & COMPUTAT,SANTA BARBARA,CA 93106
来源：
SYSTEMS & CONTROL LETTERS | 1995年 / 25卷 / 03期
基金：
美国国家科学基金会;
关键词：
NONLINEAR CONTROL; FLATNESS; DYNAMIC FEEDBACK; DRIFTLESS SYSTEMS; CHAINED FORM; PFAFFIAN SYSTEMS; ABSOLUTE EQUIVALENCE; NONHOLONOMIC SYSTEMS;
D O I：
10.1016/0167-6911(94)00060-9
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A very simple classification of Pfaffian systems of dimension 2 in 5 variables is given. It is used to show that any controllable driftless system with 3 inputs and 5 states is 0-flat and can be put into multi-input chained form by dynamic feedback and coordinate change.
引用
收藏
页码：167 / 173
页数：7
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