Flatness of two-input control-affine systems linearizable via a two-fold prolongation

Florentina Nicolau (1) , Witold Respondek (2)

1 McTAO - Mathematics for Control, Transport and Applications
2 LMI - Laboratoire de Mathématiques de l'INSA de Rouen Normandie

We study flatness of two-input control-affine systems, defined on an n-dimensional state-space. We give a geometric characterization of systems that become static feedback linearizable after a two-fold prolongation of a suitably chosen control. They form a particular class of flat systems: they are of differential weight n + 4. We present a normal form compatible with the minimal flat outputs.

Mots clés: flatness; nonlinear control systems; linearization

Domaines: Optimisation et contrôle [math.OC]

Florentina Nicolau, Witold Respondek. Flatness of two-input control-affine systems linearizable via a two-fold prolongation. 55th IEEE Conference on Decision and Control, Dec 2016, Las Vegas, United States. ⟨hal-01351615⟩