A generalization of flatness to nonlinear systems of partial differential equations.
Application to the command of a flexible rod

François Ollivier and Alexandre Sedoglavic
Laboratoire GAGE, École polytechnique
F-91128 Palaiseau, France
Alexandre.Sedoglavic@polytechnique.fr

Abstract: We introduce a concept of differential flatness for systems described by nonlinear partial differential equations. It generalizes the now classical notion of differential flatness for finite differential systems and its recent extensions to linear partial differential equations. We apply it to the motion planning of a very flexible rod, out of the linear approximation range.

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