A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems
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DOI: 10.1109/lcsys.2021.3136465
Abstract: We present a multi-rate control architecture that leverages fundamental properties of differential flatness to synthesize controllers for safety-critical nonlinear dynamical systems. We propose a two-layer architecture, where the high-level generates reference trajectories using a linear… read more here.
Keywords: controller; safe multirate; constructive method; multirate controllers ... See more keywords