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Symmetric Exterior Differentiation and Flat Forms
Canadian Journal of Mathematics, 1962Let ω be a continuous differential r-form defined in a bounded domain R of Euclidean n-space, En, where n ≧ 1 and 0 ≦ r ≦ n — 1. ω is called a flat form in R, (3, p. 263), if there exists a constant N such that for every (r + 1)-simplex σ contained in R, where |σ| designates the (r + 1)-volume of σ.
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Vibration Suppression of CDPRs Based on Differential Flatness
2018 IEEE Conference on Control Technology and Applications (CCTA), 2018Cable-Driven Parallel Robots (CDPRs) are well adaptable to various environment and are energy effective system since they use cables as actuators unlike conventional robots. However, a cable can generate only tensile force; therefore, it is necessary for its controller to maintain a positive tension all the time.
Jonghyun Yoon +3 more
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Numerical search for local (partial) differential flatness
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Differential flatness is a property of certain systems that greatly simplifies the generation of optimal and dynamically feasible trajectories. Using a differentially flat model, there is no need to integrate the system dynamics to retrieve the states and the constraints of the optimization problem are simpler.
Carmelo Sferrazza +2 more
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On the differential flatness and control of electrostatically actuated MEMS
Proceedings of the 2005, American Control Conference, 2005., 2005Extending the stable travelling range of actuators forms one of the central topics in the control of electrostatically actuated MEMS. Though certain control schemes, such as charge control, capacitive feedback, and input-output linearization, can extend the travelling range to the full gap, the transient behavior of actuators is dominated by their ...
Guchuan Zhu, Jean Lévine, Laurent Praly
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Differential flatness of the flux-decay generator model
2015 10th System of Systems Engineering Conference (SoSE), 2015This paper shows that the flux-decay model of a synchronous generator exhibits the property of differential flatness. Differential flatness will be utilized for planning the generator's trajectory as there is a one-to-one correspondence between output curves and trajectories for states and inputs.
Lucas Uecker, Kevin Wedeward
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Differential Flatness Transformations for Aggressive Quadrotor Flight
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018Aggressive maneuvering amongst obstacles could enable advanced capabilities for quadrotors in applications such as search and rescue, surveillance, inspection, and situations where rapid flight is required in cluttered environments. Previous works have treated quadrotors as differentially flat systems, and this property has been exploited widely to ...
Benjamin Morrell +7 more
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Differential Flatness Theory and Flatness-Based Control
2015The chapter analyzes the concept of differential flatness theory-based control, both for lumped dynamical systems (that is for systems which are described by ordinary differential equations) and for distributed parameter systems (that is for systems which are described by partial differential equations).
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Symmetries of a Flat Cosymbol Algebra of Differential Operators
Journal of Mathematical Sciences, 2017zbMATH Open Web Interface contents unavailable due to conflicting licenses.
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Differentially Flat Design of Bipeds Ensuring Limit Cycles
IEEE/ASME Transactions on Mechatronics, 2007For bipedal walking, a set of joint trajectories is acceptable as long as it satisfies certain overall motion requirements, such as: 1) it is repetitive (limit cycles); 2) it allows the foot to clear ground; and 3) it allows the biped to move forward.
Vivek Sangwan, Sunil Kumar Agrawal
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CONTROL OF THE CHUA'S SYSTEM BASED ON A DIFFERENTIAL FLATNESS APPROACH
International Journal of Bifurcation and Chaos, 2004In this paper, we present a flatness based control approach for the stabilization and tracking problem, for the well-known Chua chaotic circuit, that includes an additional input. We introduce two feedback controller design options for the set-point stabilization and the trajectory tracking problem: a direct pole placement approach, and Generalized ...
Carlos Aguilar-Ibáñez +2 more
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