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A New Transformation of Extended Chained Form

Shunjie Li


This paper discuss the geometric structure of the extended chained form and propose a new method to transform a two-input nonlinear system into the extended chained form (if it is feedback equivalent to the extended chained form) by use of the flatness property of its associated driftless control system.. Finally we apply this result to the system of a rolling disk on a rotating table and transform its kinematic model into the extended chained form. Moreover we show also that its extended chained form is not unique.


Extended chained form, differential flatness, rotating table.

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