Poincare normal form for a class of driftless systems in a one-dimensional submanifold neighborhood

In this paper, motivated by the restrictive conditions required to obtain an exact chained form, we propose a quadratic normal form around a one-dimensional equilibrium submanifold for systems which are in a chained form in their first approximation. In the case considered here, in contrast to the case of approximated feedback linearization, not all the state and input components have the same approximation meaning. Because of this, we use a very simplified version of dilation, which is a useful way to design a homogeneous control law for driftless systems.