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Master thesis . 2015
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Master thesis . 2015
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Master thesis . 2015
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Control of robotic systems using differential flatness

descriptionPublicationkeyboard_double_arrow_right Master thesis 01 Jan 2015 Spain Publisher:Universitat Politècnica de Catalunya
Authors: Belda Ferrín, Guillem;

handle: 2117/77120

Control of robotic systems using differential flatness

Abstract

In this work, a coordinate change of state variables is performed for drift-less systems of dimension m+2 with 2 inputs using Goursat Normal Form. Then, we define a feedback law that will allow us to convert the original system into chained form. Later on, we find the flat outputs and define a new feedback law. Finally, numerical simulations are presented for a planar space robot, a mobile robot with a trailer and a N-trailer.

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Spain
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Keywords

Chained form, :93 Systems Theory [Classificació AMS], Robot., observability, Robot, Goursat, Nonlinear control, Pfaff, Control::93B Controllability, Àrees temàtiques de la UPC::Matemàtiques i estadística::Investigació operativa::Optimització, Control::93B Controllability, observability, and system structure, and system structure, :93B Controllability, observability, and system structure [Control], Classificació AMS::93 Systems Theory, Engel, Control theory, Sistemes de control, N-Trailer, Exterior differential systems, Classificació AMS::93 Systems Theory; Control::93B Controllability, observability, and system structure, System theory, :Matemàtiques i estadística::Investigació operativa::Optimització [Àrees temàtiques de la UPC], Form, Drift-less system

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popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
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