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

Abstract : 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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https://hal.inria.fr/inria-00000040
Contributor : Jean-Baptiste Pomet <>
Submitted on : Friday, December 2, 2005 - 11:41:28 AM
Last modification on : Monday, October 14, 2019 - 3:12:02 PM
Document(s) archivé(s) le : Monday, September 20, 2010 - 1:22:47 PM

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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, EDP Sciences, 2007, 13 (2), pp.237-264. ⟨10.1051/cocv:2007011⟩. ⟨inria-00000040v2⟩

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