Poincaré normal form for a class of driftless systems in a one-dimensional submanifold neighborhood

Mathematics of Control, Signals, and Systems

Volumn 15, Issue 3, 2002, Pages 256-274

  Boutat, D ^a   Barbot, J P ^b  

^a UNIVERSITÉ D'ORLÉANS   (France)

^b ENSEA   (France)

Author keywords

Approximated Frobenius theorem; Driftless systems; Higher order method; Homogeneous diffeomorphisms and feedbacks; Poincar normal forms

Indexed keywords

APPROXIMATION THEORY; CONTROL SYSTEM ANALYSIS; FEEDBACK CONTROL; LINEARIZATION; THEOREM PROVING;

DRIFTLESS SYSTEMS;

NONLINEAR CONTROL SYSTEMS;

EID: 0036036547     PISSN: 09324194     EISSN: None     Source Type: Journal    
DOI: 10.1007/s004980200010     Document Type: Article

References (30)

1. Approximate feedback linearization: A homotopy operator approach
2. Higher order approximations for chained forms
3. Some comments on bifurcation for drifless systems: Solution's existence and uniqueness
4. Stabilization and tracking in the nonholomic integrator via sliding modes
5. Stabilization of nonholomic systems using isospectral flows
6. Characteristic numbers and normal form for a class of driftless systems in a one-dimension submanifold neighborhood
7. Asymptotic stability and feedback stabilisation
8. A classification of linear controllable systems
9. Flatness and defect of non-linear systems: Introductory theory and examples
10. One-chained form and sliding mode stabilisation for a nonholomic perturbed system
11. An approximate Frobenius theorem
12. Nilpotent and high-order approximations of vector field systems
13. Stabilization of nonholonomic integrators via logic-based switching
14. Nonlinear control systems, third edn.
15. A recursive technique for tracking control of nonholomic systems in chained form
16. Extended controller form and invariants of nonlinear control systems with a single input
17. Bifurcation and normal form of nonlinear control systems, parts I and II
18. On the control of Hopf bifurcation
19. Extended quadratic controller normal form and dynamics state feed-back linearization of nonlinear systems
20. Homogeneous stabilizing feedback laws
21. Developments in nonholomic control problems
22. Approximate linearization by state feedback and coordinate change
23. Design of homogeneous time-varying stabilizing control laws for driftless controllable systems via oscillatory approximation of lie brackets in closed loop
24. An introduction to motion planning under multirate digital control
25. A unifying representation for nonlinear discrete-time and sampled dynamics
26. Nonholonomic motion planning steering using sinusoids
27. Control of the chained systems-application to path following and time warying point-stabilization of mobile robots
28. Introduction to applied nonlinear dynamical systems and chaos