相关论文: Flatness-based pre-compensation of laser diodes

We consider the problem of finding an input signal which transfers a linear boundary controlled 1D parabolic partial differential equation with spatially-varying coefficients from a given initial state to a desired final state. The initial…

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…

Due to their compliant structure, industrial robots without precision-enhancing measures are only to a limited extent suitable for machining applications. Apart from structural, thermal and bearing deformations, the main cause for compliant…

We study residual dynamics learning for differentially flat systems, where a nominal model is augmented with a learned correction term from data. A key challenge is that generic residual parameterizations may destroy flatness, limiting the…

We consider discrete-time (DT) systems S in which a DT input is first tranformed to a continuous-time (CT) format by phase-amplitude modulation, then modified by a non-linear CT dynamical transformation F, and finally converted back to DT…

I present an experimental realization of a coherent-feedback control system that was recently proposed for testing basic principles of linear quantum stochastic control theory [M. R. James, H. I. Nurdin and I. R. Petersen, to appear in IEEE…

For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It does this by prioritizing closeness to the path over timed…

We propose the feed-forward perturbation-based nonlinearity compensation method using the received signal, which outperforms conventional decision-based ones and eliminates the need for decision feedback. Additionally, combining half-half…

Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…

Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…

In this article, we introduce the notion of differential flatness by pure prolongation: loosely speaking, a system admits this property if, and only if, there exists a pure prolongation of finite order such that the prolonged system is…

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…

We show that the flatness of a nonlinear discrete-time system can be checked by computing a unique sequence of involutive distributions. The well-known test for static feedback linearizability is included as a special case. Since the…

We show that the Euler-discretization of the nonlinear continuous-time model of a single mast stacker crane is flat. The construction of the flat output is based on a transformation of a subsystem into the linear time-variant discrete-time…

We prove that every flat nonlinear discrete-time system can be decomposed by coordinate transformations into a smaller-dimensional subsystem and an endogenous dynamic feedback. For flat continuous-time systems, no comparable result is…

Neural networks have proven practical for a synergistic combination of advanced control techniques. This work analyzes the implementation of rectified linear unit neural networks to achieve constrained control in differentially flat…

The output of physical systems is often accessible by measurements such as the 3D position of a robotic arm actuated by many actuators or the speckle patterns formed by shining the spot of a laser pointer on a wall. The selection of the…

In this contribution, we present a constructive method to derive flat sampled-data models for continuous-time flat systems through an implicit Euler-discretization. We show how the sampled-data model can be used subsequently for a…

Intracavity frequency-doubled solid-state lasers exhibit intensity fluctuations of their light output, which are cause by nonlinear dynamical processes. Up to now, there are different solutions to this problem, but they reduce the output…

The increased ability to engineer two-dimensional (2D) systems, either using materials, photonic lattices, or cold atoms, has led to the search for 2D structures with interesting properties. One such property is the presence of flat bands.…