On computing at outputs through Goursat normal form
Resum
Aquest article estudia el càlcul de les sortides planes mitjançant la forma normal de Goursat del sistema de Pfa associat a qualsevol sistema de control en variables d'estat. L'algorisme consta de tres passos: i) transformació del sistema de control en el seu sistema de Pfa equivalent; ii) càlcul de la forma normal de Goursat; iii) reescriptura de les equacions en les noves variables d'estat. Aquí, una realimentació simplica les equacions i, per tant, les sortides planes es calculen de manera senzilla. L'algorisme s'aplica a un vehicle amb rodes extensibles. Gràcies a la propietat de planitud diferencial, s'obtenen les trajectòries entre dos punts donats.Descàrregues
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Com citar
Franch, J., Manzanera, A., & Valero, G. (2014). On computing at outputs through Goursat normal form. Reports@SCM, 1(1), 1–13. Retrieved from https://revistes.iec.cat/index.php/reports/article/view/120171
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