Title :
Computing the flat outputs of Engel differential systems: the case study of the bi-steerable car
Author :
Sekhavat, S. ; Rouchon, P. ; Hermosillo, J.
Author_Institution :
INRIA Rhone-Alpes, France
Abstract :
We present a necessary condition for the flat coordinates change of any driftless system represented by two differential forms in a state space of dimension. This condition is expressed by a partial differential equation and implies an approach to help the computation of the flat outputs. Then, we apply our approach to a specific system, namely the bi-steerable car for which we explicitly compute the flat outputs. Hence, we solve the problem of the open loop control design for bi-steerable cars
Keywords :
automobiles; mobile robots; partial differential equations; path planning; Engel differential systems; bisteerable Car; driftless system; flatness; necessary condition; partial differential equation; path planning; state space; Computer aided software engineering; Control systems; Design engineering; Open loop systems; Partial differential equations; Path planning; State-space methods; Systems engineering and theory; Vehicles; Wheels;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.946189
