Discrete-Time Flatness-Based Feedforward Control for the 1D Shallow Water Equations
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DOI: 10.1016/j.ifacol.2019.11.753
Abstract: Abstract Flatness of given outputs for quasilinear 1D hyperbolic systems is conserved under an appropriate port-Hamiltonian spatial discretization. Combining the spatial with a structure-preserving temporal scheme leads to a fully discretized control model of the… read more here.
Keywords: flatness based; based feedforward; discrete time; water equations ... See more keywords
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
Intuitive dynamic modeling and flatness-based nonlinear control of a mobile robot
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DOI: 10.1177/0037549717741192
Abstract: In this paper, a bond graph model of a mobile robot with four Mecanum wheels is developed to extract a dynamic model of the robot. This is achieved using the BG_V21 tool box of MATLAB.… read more here.
Keywords: flatness based; control; robot; model ... See more keywords