TY - GEN
T1 - Computational methods for MIMO flat linear systems
T2 - 2015 American Control Conference, ACC 2015
AU - Yong, Sze Zheng
AU - Paden, Brian
AU - Frazzoli, Emilio
N1 - Publisher Copyright:
© 2015 American Automatic Control Council.
PY - 2015/7/28
Y1 - 2015/7/28
N2 - This paper is concerned with the study of flat outputs for multiple-input-multiple-output (MIMO) controllable linear time-invariant discrete- and continuous-time systems in state-space representation. Leveraging the equivalence of flatness to an estimation-theoretic system property known as strong observability, a quick computational test is developed for ascertaining if an output candidate is flat and the subspace of flat outputs can be constructively characterized. Moreover, we propose a computational method to find differentially (continuous-time), as well as non-causal and causal difference (discrete-time) flat outputs via a system transformation into a special control canonical form. Finally, design principles for flatness-based trajectory planning and tracking control for discrete-time systems are presented, which to our best knowledge, have yet to be successfully demonstrated.
AB - This paper is concerned with the study of flat outputs for multiple-input-multiple-output (MIMO) controllable linear time-invariant discrete- and continuous-time systems in state-space representation. Leveraging the equivalence of flatness to an estimation-theoretic system property known as strong observability, a quick computational test is developed for ascertaining if an output candidate is flat and the subspace of flat outputs can be constructively characterized. Moreover, we propose a computational method to find differentially (continuous-time), as well as non-causal and causal difference (discrete-time) flat outputs via a system transformation into a special control canonical form. Finally, design principles for flatness-based trajectory planning and tracking control for discrete-time systems are presented, which to our best knowledge, have yet to be successfully demonstrated.
UR - http://www.scopus.com/inward/record.url?scp=84940902614&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84940902614&partnerID=8YFLogxK
U2 - 10.1109/ACC.2015.7171938
DO - 10.1109/ACC.2015.7171938
M3 - Conference contribution
AN - SCOPUS:84940902614
T3 - Proceedings of the American Control Conference
SP - 3898
EP - 3904
BT - ACC 2015 - 2015 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 1 July 2015 through 3 July 2015
ER -