Differential Flatness and Control of Nonlinear Systems
The purpose of this communication is to investigate the connection between output relative degrees and differential flatness property of non linear systems. Considering the relative degrees of the outputs of a non linear system,necessary and sufficient conditions for differential flatness are displayed. Then,it is shown that the application of the non linear inverse approach to an output observable and output differential flat system is identical with the differential flat control approach. The application of the non linear control approach to a four rotor aircraft is considered. A trajectory tracking system based on a two layers non linear inverse control structure is then proposed.
Antoine Drouin Sebasti(a)o Sim(o)es Cunha Alexandre C.Brand(o)o Ramos Felix Mora-Camino
LARA-ENAC,Toulouse 31055,France LARA-ENAC,Toulouse 31055,France UNIFEI,Itajuba 37500-000,Brazil UNIFEI,Itajuba 37500-000,Brazil LARA-ENAC,Toulouse 31055,France LAAS du CNRS,Toulouse 31077
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）