Zobrazeno 1 - 10
of 35
pro vyhledávání: '"Gstöttner, Conrad"'
This paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cases. We derive conditions under wh
Externí odkaz:
http://arxiv.org/abs/2403.15592
Publikováno v:
IFAC-PapersOnLine Volume 58, Issue 17, 2024, Pages 244-249
In this paper, we examine the exact linearization of configuration flat Lagrangian control systems in generalized state representation with p degrees of freedom and p-1 control inputs by quasi-static feedback of its generalized state. We formally int
Externí odkaz:
http://arxiv.org/abs/2402.05023
Publikováno v:
IFAC-PapersOnLine Volume 58, Issue 6, 2024, Pages 256-261
We study the exact linearization of configuration flat Lagrangian control systems with p degrees of freedom and p-1 inputs by quasi-static feedback of classical states. First, we present a detailed analysis of the structure of the parameterization of
Externí odkaz:
http://arxiv.org/abs/2310.13371
Publikováno v:
IFAC-PapersOnLine, Volume 55, Issue 30, 2022, Pages 394-399
In this paper, we give normal forms for flat two-input control-affine systems in dimension five that admit a flat output depending on the state only (we call systems with that property x-flat systems). We discuss relations of x-flatness in dimension
Externí odkaz:
http://arxiv.org/abs/2301.04384
Publikováno v:
IFAC-PapersOnLine Volume 56, Issue 2, 2023, Pages 2877-2882
The paper studies the relation between a nonlinear time-varying flat discrete-time system and the corresponding linear time-varying systems which are obtained by a linearization along trajectories. It is motivated by the continuous-time case, where i
Externí odkaz:
http://arxiv.org/abs/2210.09247
Publikováno v:
IEEE Control Systems Letters, Volume 7, 2023
In general, flat outputs of a nonlinear system may depend on the system's state and input as well as on an arbitrary number of time derivatives of the latter. If a flat output which also depends on time derivatives of the input is known, one may pose
Externí odkaz:
http://arxiv.org/abs/2206.03845
Publikováno v:
International Journal of Control 2022
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 of a given
Externí odkaz:
http://arxiv.org/abs/2201.00189
Publikováno v:
SIGMA 20 (2024), 071, 27 pages
It is well known that for flat systems the tracking control problem can be solved by utilizing a linearizing quasi-static feedback of generalized states. If measurements (or estimates) of a so-called generalized Brunovsk\'y state are available, a lin
Externí odkaz:
http://arxiv.org/abs/2110.12995
We propose easily verifiable necessary and sufficient conditions for the linearizability of two-input systems by an endogenous dynamic feedback with a dimension of at most two.
Externí odkaz:
http://arxiv.org/abs/2106.14722
We propose an algorithmic test to check whether a two-input system is linearizable by an endogenous dynamic feedback with a dimension of at most two. This test furthermore provides a procedure for systematically deriving flat outputs for this class o
Externí odkaz:
http://arxiv.org/abs/2011.06929