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ЖУРНАЛЫ // Symmetry, Integrability and Geometry: Methods and Applications // Архив

SIGMA, 2024, том 20, 071, 27 стр. (Mi sigma2073)

Эта публикация цитируется в 1 статье

Tracking Control for $(x,u)$-Flat Systems by Quasi-Static Feedback of Classical States

Conrad Gstöttner, Bernd Kolar, Markus Schöberl

Institute of Automatic Control and Control Systems Technology, Johannes Kepler University Linz, Austria

Аннотация: 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 estimates) of a so-called generalized Brunovský state are available, a linear, decoupled and asymptotically stable tracking error dynamics can be achieved. However, from a practical point of view, it is often desirable to achieve the same tracking error dynamics by feedback of a classical state instead of a generalized one. This is due to the fact that the components of a classical state typically correspond to measurable physical quantities, whereas a generalized Brunovský state often contains higher order time derivatives of the (fictitious) flat output which are not directly accessible by measurements. In this paper, a systematic solution for the tracking control problem based on quasi-static feedback and measurements of classical states only is derived for the subclass of $(x,u)$-flat systems.

Ключевые слова: flatness, tracking control, nonlinear control.

MSC: 53Z30, 93C10, 93C15

Поступила: 3 ноября 2023 г.; в окончательном варианте 22 июля 2024 г.; опубликована 31 июля 2024 г.

Язык публикации: английский

DOI: 10.3842/SIGMA.2024.071


ArXiv: 2110.12995


© МИАН, 2024