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Article Dans Une Revue ESAIM: Control, Optimisation and Calculus of Variations Année : 2005

Flatness and Monge parameterization of two-input systems, control-affine with 4 states or general with 3 states

Résumé

This paper studies Monge parameterization, or differential flatness, of control-affine systems with four states and twocontrols. Some of them are known to be flat, and this implies admitting a Monge parameterization. Focusing on systems outside this class, we describe the only possible structure of such a parameterization for these systems, and give a lower bound on the order of this parameterization, if it exists. This lower-bound is good enough to recover the known results about "(x,u)-flatness" of these systems, with much more elementary techniques.
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Dates et versions

inria-00000040 , version 1 (20-05-2005)
inria-00000040 , version 2 (02-12-2005)

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David Avanessoff, Jean-Baptiste Pomet. Flatness and Monge parameterization of two-input systems, control-affine with 4 states or general with 3 states. ESAIM: Control, Optimisation and Calculus of Variations, 2005. ⟨inria-00000040v1⟩
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