4 papers · 1 filter
Analytic Optimal Control for a Class of Driftless x-Flat Systems
Raphael Buchinger, Georg Hartl, Lukas Ecker +1
This paper studies optimal trajectory-tracking for driftless, x-flat nonlinear systems with three states and two inputs. The tracking problem is formulated in Bolza form with a qua…
Testing Backward-Flatness of Nonlinear Discrete-Time Systems
Johannes Schrotshamer, Bernd Kolar, Markus Schöberl
Despite ongoing research, testing the flatness of discrete-time systems remains a challenging problem. To date, only the property of forward-flatness - a special case of difference…
Duality of Geometric Tests for Forward-Flatness
Johannes Schrotshamer, Bernd Kolar, Markus Schöberl
Recently it has been shown that the property of forward-flatness for discrete-time systems, which is a generalization of static feedback linearizability and a special case of a mor…
Tracking Control for -Flat Systems by Quasi-Static Feedback of Classical States
Conrad Gstöttner, Bernd Kolar, Markus Schöberl
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 estima…