%0 Journal Article
%T A Normal Form With Cascade Decomposition of Symmetric Nonlinear Control Systems<br>对称非线性控制系统的串级解耦标准形
%A Zhao Jun
%A Jing Yuanwei
%A Zhang Siying
%A <br>赵军
%A 井元伟
%A 张嗣瀛
%J 自动化学报
%D 1997
%I 
%X It is shown that a nonlinear control system possessing symmetries has locally a normal form with cascade decomposition. This normal form consists of two subsystems. One is a independent subsystem of the dimension equal to the difference of the dimensions between the total system and the symmetry Lie group. The other is a subsystem without controls. Using differential geometric method and choosing properly a few symmetric functions of coordinate transformation whose Lie derivatives with respect to input vector fields all vanish, we can construct the normal form.
%K Symmetries
%K normal form
%K nonlinear systems<br>对称性
%K 标准形
%K 非线性
%K 控制系统
%K 串级解耦标准形
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=204563357A3E709D4F036FFD12084B11&yid=5370399DC954B911&vid=EA389574707BDED3&iid=0B39A22176CE99FB&sid=9CA95D22FC1D537C&eid=0C191C6ECF79047F&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=4