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Citace
: On transformation of nonholonomic systems to time-state control form . The 11th Mediterranean Conference on Control and Automation, p. 1-6, Mediterranean Control Association, Rhodes, Greece, 2003.
Abstrakt
Time-state control form (TSCF) provides and alternative way to stabilization of symmetrical affine systems. These systems usually arise as nonholonomic driftless systems. It is, however, not precisely determined which systems can be transformed into this form. Conversion of a general driftless system to the TSCF is a subject of this paper. For control purposes, it is desired that the state variable part of TSCF has a controllable approximate linearization. We give a procedure for conversion once a special vector field called the time axis vector field is known. Since this vector field is hard to find, we turn for help to the machinery of exterior differential systems. It turns out that any flat system can be transformed to TSCF with controllable linearization of state variable part. We show an example of a system of dimension 5. As a side product, we obtain a result on linearization by time scaling.
Detail publikace
| Název: | On transformation of nonholonomic systems to time-state control form |
|---|---|
| Autor: | Prautsch, P. ; Mita, T. |
| Jazyk publikace: | anglicky |
| Datum vydání: | 18.6.2003 |
| Rok vydání: | 2003 |
| Typ publikace: | Stať ve sborníku |
| Název časopisu / knihy: | The 11th Mediterranean Conference on Control and Automation |
| Strana: | 1 - 6 |
| ISBN: | 960-87706-0-2 |
| Nakladatel: | Mediterranean Control Association |
| Místo vydání: | Rhodes, Greece |
| Datum: | 18.6.2003 - 20.6.2003 |
Klíčová slova
Time-state control form, differential flatness, linearization, Pfaffian systems
BibTeX
@INPROCEEDINGS{PrautschP_2003_Ontransformationof,
author = {Prautsch, P. and Mita, T.},
title = {On transformation of nonholonomic systems to time-state control form},
year = {2003},
publisher = {Mediterranean Control Association},
journal = {The 11th Mediterranean Conference on Control and Automation},
address = {Rhodes, Greece},
pages = {1-6},
ISBN = {960-87706-0-2},
url = {http://www.kky.zcu.cz/en/publications/PrautschP_2003_Ontransformationof},
}