Flatness based ADRC Control of Lagrangian Systems: A moving crane.
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DOI: 10.1016/j.ifacol.2020.12.1870
Abstract: Abstract A procedure is described for direct tangent linearization, around a given equilibrium point, of non-linear multivariable Lagrangian systems, in terms of second order variational expansions of the Lagrangian function. When the linearized model is… read more here.
Keywords: control; lagrangian systems; flatness based; based adrc ... See more keywords