A triangular canonical form for a class of 0-flat nonlinear systems

被引：91

作者：

Bououden, S. ^{[2
]}

Boutat, D. ^{[2
]}

Zheng, G. ^{[1
]}

Barbot, J-P ^{[1
,3
]}

Kratz, F. ^{[2
]}

机构：

[1] INRIA, F-59650 Villeneuve Dascq, France

[2] Loire Valley Univ, ENSI Bourges, Inst PRISME, F-18020 Bourges, France

[3] ECS ENSEA, F-95014 Cergy Pontoise, France

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2011年 / 84卷 / 02期

关键词：

flatness; canonical form; geometrical condition; ABSOLUTE EQUIVALENCE; FLATNESS; LINEARIZATION;

D O I：

10.1080/00207179.2010.549844

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article proposes a triangular canonical form for a class of 0-flat nonlinear systems. Necessary and sufficient geometrical conditions are given in order to guarantee the existence of a local diffeomorphism to transform the studied nonlinear systems into the proposed 0-flat canonical form, which enables us to compute the flat output as well.

引用

页码：261 / 269

页数：9