• Control of robotic systems using differential flatness 

      Belda Ferrín, Guillem (Universitat Politècnica de Catalunya, 2015-07)
      Projecte Final de Màster Oficial
      Accés obert
      In this work, a coordinate change of state variables is performed for drift-less systems of dimension m+2 with 2 inputs using Goursat Normal Form. Then, we define a feedback law that will allow us to convert the original ...