Control of robotic systems using differential flatness
In this work, a coordinate change of state variables is performed for drift-less systems of dimension m+2 with 2 inputs using Goursat Normal Form. Then, we define a feedback law that will allow us to convert the original system into chained form. Later on, we find the flat outputs and define a new f...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2015 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/77120 |
| Acceso en línea: | https://hdl.handle.net/2117/77120 |
| Access Level: | acceso abierto |
| Palabra clave: | System theory Chained form Control theory Drift-less system Exterior differential systems Engel Form Goursat Nonlinear control N-Trailer Pfaff Robot. Sistemes de control Classificació AMS::93 Systems Theory Control::93B Controllability, observability, and system structure Àrees temàtiques de la UPC::Matemàtiques i estadística::Investigació operativa::Optimització |
| Sumario: | In this work, a coordinate change of state variables is performed for drift-less systems of dimension m+2 with 2 inputs using Goursat Normal Form. Then, we define a feedback law that will allow us to convert the original system into chained form. Later on, we find the flat outputs and define a new feedback law. Finally, numerical simulations are presented for a planar space robot, a mobile robot with a trailer and a N-trailer. |
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