Control of robotic systems using differential flatness
Control of robotic systems using differential flatness
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.
Chained form, 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, Engel, Classificació AMS::93 Systems Theory, Control theory, Sistemes de control, N-Trailer, Exterior differential systems, Classificació AMS::93 Systems Theory; Control::93B Controllability, observability, and system structure, System theory, Form, Drift-less system
Chained form, 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, Engel, Classificació AMS::93 Systems Theory, Control theory, Sistemes de control, N-Trailer, Exterior differential systems, Classificació AMS::93 Systems Theory; Control::93B Controllability, observability, and system structure, System theory, Form, Drift-less system
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