On computing flat outputs through Goursat normal form

Authors

  • Jaume Franch Universitat Politècnica de Catalunya
  • Ana Manzanera Universitat Politècnica de Catalunya
  • Gemma Valero Universitat Politècnica de Catalunya

Abstract

This paper is devoted to computation of flat outputs by means of the Goursat normal form of the Pfaffan system associated to any control system in state space form. The algorithm consists of three steps: i) transformation of the system into its Pfaffan equivalent; ii) computation of the Goursat normal form; iii) rewriting of the state space equations in the new variables. Here, a feedback law simplies the equations and, therefore, the at outputs can be easily computed. The algorithm is applied to a car with expanding wheels. Point to point trajectories are obtained thanks to the property of diferential flatness.

Keywords: Feedback linearization, diferential flatness, nonlinear control.
MSC (2010): 93B18, 93B29, 93C10.

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Author Biographies

Jaume Franch, Universitat Politècnica de Catalunya




Gemma Valero, Universitat Politècnica de Catalunya




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How to Cite

Franch, J., Manzanera, A., & Valero, G. (2014). On computing flat outputs through Goursat normal form. Reports@SCM, 1(1), 1–13. Retrieved from https://revistes.iec.cat/index.php/reports/article/view/120171

Issue

Vol. 1 No. 1 (2014)

Section

Articles

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