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arXiv · 1211.5759

Trajectory Tracking Control with Flat Inputs and a Dynamic Compensator

Jean-Francois Stumper·Ferdinand Svaricek·Ralph Kennel
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Abstract

This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output may be a non-flat output, or the system may be non-flat. The method is applicable to observable systems with stable internal dynamics. The performance of the new design is demonstrated on the variable-length pendulum, a non-flat nonlinear system with a singularity in the relative degree.

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Jean-Francois Stumper, Ferdinand Svaricek, Ralph Kennel. 2012-11-25. Trajectory Tracking Control with Flat Inputs and a Dynamic Compensator. https://arxiv.org/abs/1211.5759

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