Computational methods for MIMO flat linear systems: Flat output characterization, test and tracking control

Sze Yong; Brian Paden; Emilio Frazzoli

doi:10.1109/ACC.2015.7171938

Computational methods for MIMO flat linear systems: Flat output characterization, test and tracking control

Sze Yong, Brian Paden, Emilio Frazzoli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

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	https://doi.org/10.1109/ACC.2015.7171938
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/Territory	United States
City	Chicago
Period	7/1/15 → 7/3/15

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/ACC.2015.7171938

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

Yong, S, Paden, B & Frazzoli, E 2015, Computational methods for MIMO flat linear systems: Flat output characterization, test and tracking control. in ACC 2015 - 2015 American Control Conference. vol. 2015-July, 7171938, Institute of Electrical and Electronics Engineers Inc., pp. 3898-3904, 2015 American Control Conference, ACC 2015, Chicago, United States, 7/1/15. https://doi.org/10.1109/ACC.2015.7171938

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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.",

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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.

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Computational methods for MIMO flat linear systems: Flat output characterization, test and tracking control

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