Linearization by prolongations of two-input driftless systems

Abstract

Deals with the problem of linearization by prolongations of two-input driftless systems. For general two-input systems, the number of computations needed to check if a system is linearizable by prolongations is quite large. However, for driftless systems, the conditions presented in the paper require very few computations. The methodology is illustrated for some engineering systems which fulfill these conditions, e.g., a unicycle, a planar robot, and a hopping robot.