A trajectory-based approach to discrete-time flatness
For discrete-time systems, flatness is usually defined by replacing the time-derivatives of the
well-known continuous-time definition by forward-shifts. With this definition, the class of flat …
well-known continuous-time definition by forward-shifts. With this definition, the class of flat …
Differential–geometric decomposition of flat nonlinear discrete-time systems
We prove that every flat nonlinear discrete-time system can be decomposed by coordinate
transformations into a smaller-dimensional subsystem and an endogenous dynamic …
transformations into a smaller-dimensional subsystem and an endogenous dynamic …
Necessary and sufficient conditions for difference flatness
In this article, we show that the flatness of a nonlinear discrete-time system can be checked
by computing a unique sequence of involutive distributions. The well-known test for static …
by computing a unique sequence of involutive distributions. The well-known test for static …
On flatness of discrete-time nonlinear systems
A Kaldmäe - IFAC Proceedings Volumes, 2013 - Elsevier
The paper addresses the problem of dynamic feedback linearization of discrete-time
nonlinear control systems. Analogously to the continuous-time case, necessary and …
nonlinear control systems. Analogously to the continuous-time case, necessary and …
[PDF][PDF] Global linearization approach to nonlinear control systems: a brief tutorial overview.
The paper gives an overview of an algebraic approach based on differential 1-forms,
developed for the study of nonlinear control systems. The purpose of the paper is to describe …
developed for the study of nonlinear control systems. The purpose of the paper is to describe …
Construction of flat outputs of nonlinear discrete-time systems in a geometric and an algebraic framework
This paper introduces a method for the construction of fiat outputs of nonlinear discrete-time
systems which is based on the idea of finding state-and input transformations which split the …
systems which is based on the idea of finding state-and input transformations which split the …
Trajectory tracking for awheeled mobile robot using a vision based positioning system and an attitude observer
M Velasco-Villa, E Aranda-Bricaire… - European Journal of …, 2012 - Elsevier
The trajectory tracking problem for a wheeled mobile robot is addressed and solved by
means of a partial state feedback strategy based on measurements from an indoor vision …
means of a partial state feedback strategy based on measurements from an indoor vision …
Characterization of flat outputs of switched linear discrete-time systems: Algebraic condition and algorithm
The problem of flat output characterization for switched linear discrete-time systems is
addressed. First, an algebraic condition for an output to be flat is provided. It applies for I-flat …
addressed. First, an algebraic condition for an output to be flat is provided. It applies for I-flat …
Algebraic necessary and sufficient condition for difference flatness
A Kaldmäe - International Journal of Control, 2022 - Taylor & Francis
In this paper, a novel solution is proposed for verifying difference flatness of a nonlinear
discrete-time control system. A necessary and sufficient condition is proved under which a …
discrete-time control system. A necessary and sufficient condition is proved under which a …
On the exact linearisation and control of flat discrete-time systems
The paper addresses the exact linearisation of flat nonlinear discrete-time systems by
generalised static or dynamic feedbacks which may also depend on forward-shifts of the …
generalised static or dynamic feedbacks which may also depend on forward-shifts of the …