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

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

2005-05-21

arxiv.org/abs/math/0505443v2

ESAIM Control Optim. Calc. Var. 13 (2007), no. 2, 237-264

Mathematics

Optimization and Control

Scientific paper

10.1051/cocv:2007011

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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