Published June 22, 1995
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A Test for Differential Flatness by Reduction to Single Input Systems
- Creators
- Rathinam, Muruhan
- Sluis, Willem M.
Abstract
For nonlinear control systems (p inputs), we present a test for flatness. The method consists of making an initial guess for p-1 of the flat outputs, which may involve parameters still to be determined. A choice of functions of time for the p-1 outputs reduce the system to one with a single input. For single input systems the problem of flatness has been solved and thus leads to the identification of the last flat output, or to obstructions to flatness under the hypotheses. We demonstrate the method for a coupled rigid body in ℝ2 and for a single rigid body in ℝ3.
Additional Information
It is a pleasure to thank Richard Murray for suggesting the examples in this paper as well as for many valuable comments. Research supported in part by a grant from the Powell Foundation and by NSF Grant CMS-9502224.Files
CDS95-018.pdf
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Additional details
- Eprint ID
- 28098
- Resolver ID
- CaltechCDSTR:1995.018
- Created
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2006-10-13Created from EPrint's datestamp field
- Updated
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2019-10-03Created from EPrint's last_modified field
- Caltech groups
- Control and Dynamical Systems Technical Reports