Describing and Calculating Flat Outputs of Two-input Driftless Control Systems
نویسندگان
چکیده
We study the problem of flatness of two-input driftless control systems. Although a characterization of flat systems of that class is known, the problems of describing all flat outputs and of calculating them is open. We show that all x-flat outputs are parameterized by an arbitrary function of three canonically defined variables. We also construct a system of 1 order PDE’s whose solutions give all x-flat outputs of 2-input driftless systems. We illustrate our results by describing all flat outputs of models of a rolling disk and a nonholonomic car.
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تاریخ انتشار 2016