We introduce flat systems, which are equivalent to linear ones via a special type of feedback
called endogenous. Their physical properties are subsumed by a linearizing output and they …

Stability theory has allowed us to study both qualitative and quantitative properties of
dynamical systems, and control theory has played a key role in designing numerous …

Provides a summary of recent developments in control of nonholonomic systems. The
published literature has grown enormously during the last six years, and it is now possible to …

This paper presents the first motion planning methodology applicable to articulated,
nonpoint nonholonomic robots with guaranteed collision avoidance and convergence …

Develops the machinery of exterior differential forms, more particularly the Goursat normal
form for a Pfaffian system, for solving nonholonomic motion planning problems, ie, motion …

A solution of the motion planning without obstacles for the standard a-trailer system is
proposed. This solution relies basically on the fact that the system is flat with the Cartesian …

Robotic and mechatronic systems, autonomous vehicles, electric power systems and smart
grids, as well as manufacturing and industrial production systems can exhibit complex …

This paper gives a control law for stabilizing multiple input chained form control systems.
This extends an earlier result of Teel, Murray, and Walsh (1992) on stabilizing the above …

This paper proposes an alternative solution to the global stabilization of nonholonomic multi-
input chained form systems investigated in recent contributions [13, 18]. A systematic design …

This paper develops a constructive method for finding a nilpotent basis for a special class of
smooth nonholonomic distributions. The main tool is the use of the Goursat normal form …