On transformation of nonholonomic systems to time-state control form

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F03%3A00000016" target="_blank" >RIV/49777513:23520/03:00000016 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
On transformation of nonholonomic systems to time-state control form
Original language description
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 li nearization 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.
Czech name
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Czech description
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Publication year
2003
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
The 11th Mediterranean Conference on Control and Automation
ISBN
960-87706-0-2
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1-6
Publisher name
Mediterranean Control Association
Place of publication
Rhodes, Greece
Event location
Rhodos
Event date
Jun 18, 2003
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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