On computing flat outputs through Goursat normal form
Document typeConference report
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessRestricted access - publisher's policy
This paper is devoted to computation of flat outputs by means of the Goursat normal form of the Pfaffian system associated to any control system in state space form. The algorithm explained here consists in three steps: i) Transformation of the system into its Pfaffian equivalent. ii) Computation of the Goursat normal form for the Pfaffian system. iii) Rewriting of the state space equations in the new variables. At this stage, a feedback law simplifies the equations and, therefore, the flat outputs can be easily computed. As an example, the algorithm is applied to a system consisting in a car with expanding wheels. Point to point trajectories are obtained thanks to the property of differential flatness. The paper also includes a control law that minimizes errors in the initial conditions.
CitationFranch, J.; Manzanera, A.; Valero, G. On computing flat outputs through Goursat normal form. A: European Control Conference. "2014 European Control Conference : Proceedings". Strasbourg: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 2436-2441.