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Outer flatness: trajectory generation for a model helicopter |
Abstract |
This paper introduces the concept of outer … This paper introduces the concept of outer flatness,
a derivative of differential flatness.
Outer flatness describes a
system that can be split
in 2 subsytems, a non-flat inner system and a flat outer system.
The outputs of the outer system are the tracking outputs of interest.
The inputs of the outer system are the outputs of the inner system,
and not subject to our direct control.
The inputs of the inner system are the real actuator inputs.
This system structure is also present in backstepping and dynamic
inversion.
We present two theorems on exponential and bounded tracking for
outer flat systems, based on Lyapunoff arguments.
We validate the approach with simulations and experiments
on a model helicopter.
<p> riments
on a model helicopter.
<p> +
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Authors | Michiel van Nieuwstadt and Richard M. Murray + |
ID | 1997m + |
Source | 1997 European Control Conference + |
Tag | nm97-ecc + |
Title | Outer flatness: trajectory generation for a model helicopter + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:19:54 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/nm97-ecc.pdf + |
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Outer flatness: trajectory generation for a model helicopter + | Title |
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