Differential flatness and control of nonlinear systems - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2011

Differential flatness and control of nonlinear systems

(1) , (2, 3) , (3) , (4)


The purpose of this communication is to investigate the connection between output relative degrees and differential flatness property of non linear systems. Considering the relative degrees of the outputs of a non linear system, necessary and sufficient conditions for differential flatness are displayed. Then, it is shown that the application of the non linear inverse approach to an output observable and output differential flat system is identical with the differential flat control approach. The application of the non linear control approach to a four rotor aircraft is considered. A trajectory tracking system based on a two layers non linear inverse control structure is then proposed.
Fichier principal
Vignette du fichier
Drouin_CCC2011.pdf (160.04 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-01019929 , version 1 (07-07-2014)


  • HAL Id : hal-01019929 , version 1


Antoine Drouin, Sebastião Simoes Cunha, Alexandre Carlos Brandao-Ramos, Felix Mora-Camino. Differential flatness and control of nonlinear systems. CCC 2011, 30th Chinese Control Conference, Jul 2011, Yantai, China. pp 643-648. ⟨hal-01019929⟩
373 Consultations
1067 Téléchargements


Gmail Facebook Twitter LinkedIn More