Related papers: Trajectory Tracking Control with Flat Inputs and a…
Differentially flat models are frequently used to design feedforward controllers for electromechanical systems. However, control performance depends on model accuracy, which makes feedback imperative. This paper presents a control scheme…
This paper proposes several nonlinear control strategies for trajectory tracking of a quadcopter system based on the property of differential flatness. Its originality is twofold. Firstly, it provides a flat output for the quadcopter…
The trajectory tracking problem for multivariable linear systems is considered. Two different techniques are examined: the output regulation theory (ORT) and the flatness based tracking (FBT). ORT and FBT are two different approaches to…
Differential flatness has been used to provide diffeomorphic transformations for non-linear dynamics to become a linear controllable system. This greatly simplifies the control synthesis since in the flat output space, the dynamics appear…
In this paper we consider $(x,u)$-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen control. This result is not only of…
This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…
This paper studies the $\alpha$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $\alpha$-stability, which is particularly amenable to characterize the ability of…
Controlling hybrid systems is mostly very challenging due to the variety of dynamics these systems can exhibit. Inspired by the concept of differential flatness of nonlinear continuous systems and their inherent invertibility property, the…
The paper addresses the exact linearization of flat nonlinear discrete-time systems by generalized static or dynamic feedbacks which may also depend on forward-shifts of the new input. We first investigate the question which forward-shifts…
This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…
Willems et al. showed that all input-output trajectories of a discrete-time linear time-invariant system can be obtained using linear combinations of time shifts of a single, persistently exciting, input-output trajectory of that system. In…
This chapter presents an approach to embed the input/state/output constraints in a unified manner into the trajectory design for differentially flat systems. To that purpose, we specialize the flat outputs (or the reference trajectories) as…
Learning-based optimal control algorithms control unknown systems using past trajectory data and a learned model of the system dynamics. These controllers use either a linear approximation of the learned dynamics, trading performance for…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
In this paper, a novel robust output regulation control framework is proposed for the system subject to noise, modeled disturbance and unmodeled disturbance to seek tracking performance and robustness simultaneously. The output regulation…
Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this…
Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…
We study distributed control for a network of nonlinear, differentially flat subsystems subject to dynamic coupling. Although differential flatness simplifies planning and control for isolated subsystems, the presence of coupling can…
The Newton-Raphson Controller, established on the output prediction and the Newton-Raphson algorithm, is shown to be effective in a variety of control applications. Although the stability condition of the controller for linear systems has…
This paper proposes a novel control approach composed of sinusoidal reference trajectories and trajectory tracking controller for the second-order chained form system. The system is well-known as a canonical form for a class of second-order…