文章基本信息

标题：On the Linearization of Flat Two-Input Systems by Prolongations and Applications to Control Design
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作者：Conrad Gstöttner ; Bernd Kolar ; Markus Schöberl 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：5479-5486
DOI：10.1016/j.ifacol.2020.12.1553
语种：English
出版社：Elsevier
摘要：AbstractIn this paper we consider (x,u)-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen (new) control. This result is not only of theoretical interest, but has also important implications on the design of flatness based tracking controls. We show that a tracking control based on quasi-static state feedback can always be designed in such a way that only measurements of a (classical) state of the system, and not measurements of a generalized Brunovsky state, as reported in the literature, are required.
关键词：KeywordsFlatnessExact linearizationNonlinear controlQuasi-static state feedback