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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>  +
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
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15 May 2016 06:19:54  +
URL
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http://www.cds.caltech.edu/~murray/preprints/nm97-ecc.pdf  +
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