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Differential flatness and sliding mode control
2015A system is said to be differentially flat if there exists a set of independent differential functions of the state (i.e., they do not satisfy any differential equations and, additionally, they are functions of the state and of a finite number of their time derivatives), called the flat outputs.
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Design of differentially flat planar space robots and their planning and control
International Journal of Control, 2008The motion of free-floating space robots is characterized by non-holonomic constraints, i.e., non-integrable rate constraint equations. These constraints originate from the principles of conservation of angular momentum. It is well known that these rate constraints can also be written to form an input-affine drift-less control systems.
Jaume Franch, Sunil Kumar Agrawal
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Novel Control Strategy for Modular Multilevel Converters Based on Differential Flatness Theory
IEEE Journal of Emerging and Selected Topics in Power Electronics, 2018This paper aims to present a novel control strategy for modular multilevel converters (MMC) based on differential flatness theory, in which instantaneous active and reactive power values are considered as the flat outputs. To this purpose, a mathematical
M. Mehrasa +4 more
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A rapid iterative trajectory planning method for automated parking through differential flatness
Robotics Auton. Syst.As autonomous driving continues to advance, automated parking is becoming increasingly essential. However, significant challenges arise when implementing path velocity decomposition (PVD) trajectory planning for automated parking.
Zhouheng Li +3 more
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Motion Planning and Control for a Class of Partially Differentially Flat Systems
2019 12th International Conference on Developments in eSystems Engineering (DeSE), 2019This paper deals with motion planning and control problems for a class of partially differentially flat systems. A Betafunction based motion planning algorithm is first constructed by selecting the base variable to be the 2-nd order derivative of Beta-function weighted by a constant parameter.
Yang Bai 0006, Mikhail M. Svinin
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International Conference on Unmanned Aircraft Systems
Differential-flatness-based trajectory planning and tracking is a promising approach for small fixed-wing UAVs traversing dense obstacle environments.
Tianqing Liu +4 more
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Differential-flatness-based trajectory planning and tracking is a promising approach for small fixed-wing UAVs traversing dense obstacle environments.
Tianqing Liu +4 more
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Robust Tracking Control of Quadrotors Based on Differential Flatness: Simulations and Experiments
IEEE/ASME transactions on mechatronics, 2018We introduce a new exponentially convergent trajectory tracking control law based on the fully nonlinear quadrotor model subject to unknown disturbances and modeling uncertainties.
Alexander Poultney +3 more
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Differentially flat nonlinear control systems
1997Differentially flat systems are underdetermined systems of (nonlinear) ordinary differential equations (ODEs) whose solution curves are in smooth one-one correspondence with arbitrary curves in a space whose dimension equals the number of equations by which the system is underdetermined. For control systems this is the same as the number of inputs. The
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An approximate abstraction approach to safety control of differentially flat systems
2013 European Control Conference (ECC), 2013Control for safety specifications of large nonlinear systems is a challenging task. By reducing the system to a discrete abstraction the computational demands of the controller can be greatly reduced. We propose a supervisor for differentially flat systems, based on an approximate abstraction of the flat output.
COLOMBO, ALESSANDRO, Antoine Girard
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