Abstract
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.
| Original language | English (US) |
|---|---|
| Title of host publication | ACC 2015 - 2015 American Control Conference |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 3898-3904 |
| Number of pages | 7 |
| Volume | 2015-July |
| ISBN (Electronic) | 9781479986842 |
| DOIs | |
| State | Published - Jan 1 2015 |
| Externally published | Yes |
| Event | 2015 American Control Conference, ACC 2015 - Chicago, United States Duration: Jul 1 2015 → Jul 3 2015 |
Other
| Other | 2015 American Control Conference, ACC 2015 |
|---|---|
| Country | United States |
| City | Chicago |
| Period | 7/1/15 → 7/3/15 |
Fingerprint
ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
Computational methods for MIMO flat linear systems : Flat output characterization, test and tracking control. / Yong, Sze; Paden, Brian; Frazzoli, Emilio.
ACC 2015 - 2015 American Control Conference. Vol. 2015-July Institute of Electrical and Electronics Engineers Inc., 2015. p. 3898-3904 7171938.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Computational methods for MIMO flat linear systems
T2 - Flat output characterization, test and tracking control
AU - Yong, Sze
AU - Paden, Brian
AU - Frazzoli, Emilio
PY - 2015/1/1
Y1 - 2015/1/1
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
VL - 2015-July
SP - 3898
EP - 3904
BT - ACC 2015 - 2015 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
ER -