Related papers: Flatness-based control revisited: The HEOL setting
This work presents a new approach to the guidance and control of marine craft via HEOL, i.e., a new way of combining flatness-based and model-free controllers. Its goal is to develop a general regulator for Unmanned Surface Vehicles (USV).…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
The paper presents an approach to flatness-based control design for hyperbolic multi-input systems, building upon the hyperbolic controller form (HCF). The transformation into HCF yields a simplified system representation that considerably…
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…
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…
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…
We are introducing a model-free control and a control with a restricted model for finite-dimensional complex systems. This control design may be viewed as a contribution to "intelligent" PID controllers, the tuning of which becomes quite…
We present some "in silico" experiments to design combined chemo- and immunotherapy treatment schedules. We introduce a new framework by combining flatness-based control, which is a model-based setting, along with model-free control. The…
We derive in a straightforward way the null controllability of a 1-D heat equation with boundary control. We use the so-called {\em flatness approach}, which consists in parameterizing the solution and the control by the derivatives of a…
"Model-free control" and the corresponding "intelligent" PID controllers (iPIDs), which already had many successful concrete applications, are presented here for the first time in an unified manner, where the new advances are taken into…
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…
Model predictive control (MPC) is a popular control engineering practice, but requires a sound knowledge of the model. Model-free predictive control (MFPC), a burning issue today, also related to reinforcement learning (RL) in AI, is…
Flatness-based control design is a well established method to generate open-loop control signals. Several articles discuss the application of flatness-based control design of (reaction-) diffusion problems for various scenarios. Beside the…
Writing down mathematical models of agricultural greenhouses and regulating them via advanced controllers are challenging tasks since strong perturbations, like meteorological variations, have to be taken into account. This is why we are…
We study control systems on the tangent bundle of a smooth manifold induced by vertical lifts of vector fields. The Vertical dynamics acts exclusively along the fibers, leaving the base point unchanged and reducing the system to a linear…
A unifying framework for the control of quantum systems with non-Abelian holonomy is presented. It is shown that, from a control theoretic point of view, holonomic quantum computation can be treated as a control system evolving on a…
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 derive in a direct and rather straightforward way the null controllability of a 2-D heat equation with boundary control. We use the so-called flatness approach, which consists in parameterizing the solution and the control by the…
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…
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…