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Fabrication and characterization of a full-size ultra-precise lamellar grating for the Cosmic beamline at ALS-U. [PDF]
J Synchrotron RadiatVoronov D +7 more
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Antagonism between blue and red light-signalling controls thallus flatness in Marchantia polymorpha
Roetzer J +6 more
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On necessary and sufficient conditions for differential flatness [PDF]
Applicable Algebra in Engineering, Communications and Computing, 2010 Version 3 is the published ...
Jean Levine, Levine Jean
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A Generalization of Flatness to Nonlinear Systems of Partial Differential Equations. Application to the Command of a Flexible Rod [PDF]
IFAC Postprint Volumes IPPV / International Federation of Automatic Control, 2001 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 ...
Alexandre Sedoglavic +1 more
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The Cycab robot: a differentially flat system
Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2002The Cycab robot is a new mobile platform already used in several research labs and meant for different applications such as public transportation in airport terminals, self-service cars in pedestrian zones, etc. From a kinematic point of view, the Cycab specificity is the turning of its rear wheels as a linear function of the steering angle of the ...
Sepanta Sekhavat +1 more
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CONTROL OF THE DIFFERENTIALLY FLAT LORENZ SYSTEM
International Journal of Bifurcation and Chaos, 2001This paper presents an approach for the control of the Lorenz system. We first show that the controlled Lorenz system is differentially flat and then compute the flat output of the Lorenz system. A two degree of freedom design approach is proposed such that the generation of full state feasible trajectory incorporates with the design of a tracking ...
Jin Man Joo, Jin Bae Park
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On Symbolic Computation of Flat Outputs for Differentially Flat Systems
IFAC Proceedings Volumes, 2010Abstract This contribution deals with the formal computation of so-called flat outputs of nonlinear control systems using a Computer Algebra System. A toolbox is presented which assists the evaluation of the necessary and sufficient conditions for differential flatness derived in Levine (2006) using the formalism of systems on manifolds of jets of ...
Felix Antritter +1 more
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Application of legendrian foliations in differential flatness problems
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012Instances of control systems are presented for which dynamical feedback linearizability can be assessed from differential forms of highest relative degree after some “contact” transformation has been applied. This bypasses the need to find a polynomial differential operator that leads to an integrable co-distribution.
Basile Graf, Philippe Müllhaupt
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On the Computation of Differentially Flat Inputs
2018 22nd International Conference on System Theory, Control and Computing (ICSTCC), 2018Differential flatness and methods based on this property have proved to be very fruitful for tracking controllers and trajectory planning of nonlinear systems. As a dual to the concept of differentially flat outputs, this contribution deals with the computation of flat inputs, and thus with the problem of actuator placement.
Klemens Fritzsche, Klaus Robenack
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Jerk estimation for quadrotor based on differential flatness
2020 17th International Conference on Ubiquitous Robots (UR), 2020In this work, we propose a method to estimate the inertial jerk of a multicopter vehicle using inertial measurement unit (IMU) measurements, without taking any time derivatives nor the need for motor rpm sensors. If an attitude estimate is not available, a jerk estimate expressed in the vehicle-fixed frame can still be obtained.
Juan Medrano +6 more
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