Abstract
AbstractThis paper investigates the use of state feedbacks to transform an affine control system into a special form with a driftless property. First, we consider the regular dynamic state feedback for an affine control system. Both local and global sufficient and necessary conditions are given on the affine control system such that it admits the driftless property. An algorithm is provided to compute explicitly the desired coordinate transformation. Then, the nonregular cases are studied. Some necessary conditions, as well as sufficient conditions, for nonregular feedback are presented. We illustrate with some examples.
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