An Effective Algorithm for Analytical Computation of Flat Outputs over the Weyl Algebra

Vincent Morio 1 Franck Cazaurang 1 Ali Zolghadri 1
1 IMS - Laboratoire de l'intégration, du matériau au système
Abstract : This paper presents a new and effective algorithm to compute a set of at outputs for nonlinear implicit systems described in the differential geometric framework of jets of infinite order. The proposed methodology is based on the necessary and sufficient conditions for differential flatness. A procedure is set up to manage the degrees of freedom left by the polynomial matrices approach. First, a reduced-order basis of the ideal of differential forms generated by the differentials of all possible Lie-Backlund isomorphisms is obtained by computing reduced order bases of the left nullspace of Ore polynomial matrices and the weak Popov form over a Weyl algebra. Then, the generalized Cartan moving frame, including additional strutural constraints, is used in order to characterize the strong closedness of the latter ideal.
Keywords : differential forms Nonlinear Dynamic Inversion Differential flatness flat outputs nonlinear systems polynomial matrices weak Popov form differential forms.
Type de document :
Communication dans un congrès
IFAC WORD CONGRESS, Jul 2008, SEOUL, North Korea. pp.11250-11256, 2008, 〈10.3182/20080706-5-KR-1001.01906〉
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https://hal.archives-ouvertes.fr/hal-00287385
Contributeur : Franck Cazaurang <>
Soumis le : mercredi 11 juin 2008 - 17:29:26
Dernière modification le : jeudi 11 janvier 2018 - 06:21:07

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Vincent Morio, Franck Cazaurang, Ali Zolghadri. An Effective Algorithm for Analytical Computation of Flat Outputs over the Weyl Algebra. IFAC WORD CONGRESS, Jul 2008, SEOUL, North Korea. pp.11250-11256, 2008, 〈10.3182/20080706-5-KR-1001.01906〉. 〈hal-00287385〉

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