Trajectory Tracking Control with Flat Inputs and a Dynamic Compensator
Systems and Control
2012-11-27 v1 Dynamical Systems
Abstract
This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output may be a non-flat output, or the system may be non-flat. The method is applicable to observable systems with stable internal dynamics. The performance of the new design is demonstrated on the variable-length pendulum, a non-flat nonlinear system with a singularity in the relative degree.
Cite
@article{arxiv.1211.5759,
title = {Trajectory Tracking Control with Flat Inputs and a Dynamic Compensator},
author = {Jean-Francois Stumper and Ferdinand Svaricek and Ralph Kennel},
journal= {arXiv preprint arXiv:1211.5759},
year = {2012}
}
Comments
Proceedings of the European Control Conference, pp. 248-253, Budapest, Hungary, 2009