Results 261 to 270 of about 8,714,045 (298)

Periodic Control of Unmanned Aerial Vehicles based on Differential Flatness

2018 Annual American Control Conference (ACC), 2018
Unmanned aerial vehicles (UAVs) are making increasingly long flights today with significantly longer mission times. This requires the UAVs to have long endurance as well as have long range capabilities. Motivated by locomotory patterns in birds and marine animals which demonstrate a powered-coasting-powered periodic locomotory behavior, an optimal ...
Oladapo Ogunbodede, Souransu Nandi, Tarunraj Singh   +2 more
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Trajectory tracking control based on differential flatness

2016 35th Chinese Control Conference (CCC), 2016
The development of hypersonic flight control system is a challenging task, because of the tightly coupled, highly nonlinear and notoriously uncertain nature of hypersonic vehicle(HSV) dynamics. During the hypersonic flight, any state which does not meet the constraint condition may lead to the system instability.
Yuxiao Wang, Tao Chao, Songyan Wang, Ming Yang   +3 more
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Control of the Furuta pendulum based on a linear differential flatness approach

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301), 2002
In this article, we present a flatness based control approach for the stabilization and equilibrium-to-equilibrium transfers, via trajectory tracking, of the Furuta pendulum. We introduce three feedback controller design options for the stabilization and rest-to-rest trajectory problems; a direct pole placement approach, a hierarchical high-gain ...
Carlos Aguilar-Ibáñez, Herbertt Sira-Ramirez   +1 more
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Differential Flatness Theory and Flatness-Based Control

2015
The 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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Groups of unmanned vehicles: differential flatness, trajectory planning, and control

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2003
This paper addresses the problem of trajectory planning and tracking control of groups of unmanned vehicles. The trajectory planner is aimed at satisfying the dynamic equations and constraints. The planner builds on two features of the group: (1) state equations for each member are differentially flat, and (2) inequality constraints have special ...
Stephen T. Pledgie, Yongxing Hao, Armando M. Ferreira, Sunil Kumar Agrawal, Robert Murphey   +4 more
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Differential flatness and sliding mode control

2015
A 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, 2008
The 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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Differentially flat nonlinear control systems

1997
Differentially 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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Reactive controllers for differentially flat systems with temporal logic constraints

2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012
We propose a procedure for the synthesis of control protocols for systems governed by nonlinear differential equations and constrained by temporal logic specifications. This procedure relies on a particular finite-state abstraction of the underlying continuous dynamics and a discrete representation of the external environmental signals.
Jun Liu 0015, Ufuk Topcu, Necmiye Ozay, Richard M. Murray   +3 more
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Differential flatness of a front-steered vehicle with tire force control

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
A trajectory tracking controller based on differential flatness is presented for a nonlinear bicycle model. This controller maps the bicycle dynamics into a point mass located at a center of oscillation with an additional degree of freedom of yaw dynamics.
Steven C. Peters, Emilio Frazzoli, Karl Iagnemma   +2 more
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