A generalization of flatness to nonlinear systems of partial differential equations. Application to the command of a flexible rod

Francois Ollivier 1, 2 Alexandre Sedoglavic 1, 3
1 ALIEN - Algebra for Digital Identification and Estimation
Inria Lille - Nord Europe, Inria Saclay - Ile de France, Ecole Centrale de Lille, X - École polytechnique, CNRS - Centre National de la Recherche Scientifique : UMR8146
Abstract : We introduce a concept of differential flatness for systems described by nonlinear partial differential equations. It generalizes the now classical notion of differential flatness for finite differential systems and its recent extensions to linear partial differential equations. We apply it to the motion planning of a very flexible rod, out of the linear approximation range.
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Francois Ollivier, Alexandre Sedoglavic. A generalization of flatness to nonlinear systems of partial differential equations. Application to the command of a flexible rod. Nonlinear Control Systems 2001, Jul 2001, St Petersbourg Russie. ⟨inria-00126994⟩

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