Results 31 to 40 of about 27,953 (293)

PIR Control Strategy of MMC-RPC Based on Differential Flatness Theory

机车电传动, 2020
In order to deal with the negative sequence, reactive power, harmonic and other power quality problems of traction power supply system, the power relationship between the left and right power supply arms of V/v transformer was analyzed, and the power ...
Pinggang SONG, Zhiqiang JIANG, Zhenbang ZHOU   +2 more
doaj  

Accurate Tracking of Aggressive Quadrotor Trajectories using Incremental Nonlinear Dynamic Inversion and Differential Flatness

, 2020
Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (i.e., high-speed and high-acceleration) maneuvers have attracted significant attention in the past few years.
Karaman, Sertac, Tal, Ezra
core   +1 more source

Supervisory control of differentially flat systems based on abstraction [PDF]

IEEE Conference on Decision and Control and European Control Conference, 2011
The limiting factor in most implementations of safety enforcing controllers is the model's complexity, and a common work-around includes the abstraction of the physical model, based on differential equations, to a finite symbolic model. We exploit the specific structure of a class of systems (the differentially flat systems) to perform the abstraction.
COLOMBO, ALESSANDRO, D. Del Vecchio
openaire   +4 more sources

Thomas decompositions of parametric nonlinear control systems

, 2012
This paper presents an algorithmic method to study structural properties of nonlinear control systems in dependence of parameters. The result consists of a description of parameter configurations which cause different control-theoretic behaviour of the ...
Lange-Hegermann, Markus, Robertz, Daniel
core   +1 more source

6D Pose Task Trajectory Tracking for a Class of 3D Aerial Manipulator From Differential Flatness

IEEE Access, 2019
In this paper, the dynamics and control of a novel class of aerial manipulator for the purpose of end effector full pose trajectory tracking are investigated.
Yushu Yu, Vincenzo Lippiello
doaj   +1 more source

Real-time obstacle collision avoidance for fixed wing aircraft using B-splines [PDF]

, 2014
A real-time collision avoidance algorithm is developed based on parameterizing an optimal control problem with B-spline curves. The optimal control problem is formulated in output space rather than control or input space, this is feasible because of ...
Alturbeh, Hamid, Whidborne, James F.
core   +1 more source

Differential Flatness and Flatness Inspired Control of Aerial Manipulators based on Lagrangian Reduction

, 2021
This paper shows that the dynamics of a general class of aerial manipulators, consist of an underactuated multi-rotor base with an arbitrary k-linked articulated manipulator, are differentially flat. Methods of Lagrangian Reduction under broken symmetries produce reduced equations of motion whose key variables: center-of-mass linear momentum, vehicle ...
Wei, Skylar X., Harderup, Peder, Burdick, Joel   +2 more
openaire   +2 more sources

Flatness-based control revisited: The HEOL setting

Comptes Rendus. Mathématique
We present the algebraic foundations of the HEOL setting, which combines flatness-based control and intelligent controllers, two advances in automatic control that have been proven in practice, including in industry.
Join, Cédric, Delaleau, Emmanuel, Fliess, Michel   +2 more
doaj   +1 more source

A Robust Disturbance-Rejection Controller Using Model Predictive Control for Quadrotor UAV in Tracking Aggressive Trajectory

Drones, 2023
A robust controller for the waypoint tracking of a quadrotor unmanned aerial vehicle (UAV) is proposed in this paper, in which position control and attitude control are effectively decoupled.
Zhixiong Xu, Li Fan, Wei Qiu, Guangwei Wen, Yunhan He   +4 more
doaj   +1 more source

Dynamic Equivalence of Control Systems and Infinite Permutation Matrices [PDF]

, 2019
To each dynamic equivalence of two control systems is associated an infinite permutation matrix.
Clelland, Jeanne N., Hu, Yuhao, Stackpole, Matthew W.   +2 more
core   +4 more sources