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Control of robotic systems using differential flatness
dc.contributor | Franch Bullich, Jaume |
dc.contributor.author | Belda Ferrín, Guillem |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada IV |
dc.date.accessioned | 2015-09-28T13:03:25Z |
dc.date.issued | 2015-07 |
dc.identifier.uri | http://hdl.handle.net/2117/77120 |
dc.description.abstract | 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 system into chained form. Later on, we find the flat outputs and define a new feedback law. Finally, numerical simulations are presented for a planar space robot, a mobile robot with a trailer and a N-trailer. |
dc.language.iso | eng |
dc.publisher | Universitat Politècnica de Catalunya |
dc.subject | Àrees temàtiques de la UPC::Matemàtiques i estadística::Investigació operativa::Optimització |
dc.subject.lcsh | System theory |
dc.subject.other | Chained form |
dc.subject.other | Control theory |
dc.subject.other | Drift-less system |
dc.subject.other | Exterior differential systems |
dc.subject.other | Engel |
dc.subject.other | Form |
dc.subject.other | Goursat |
dc.subject.other | Nonlinear control |
dc.subject.other | N-Trailer |
dc.subject.other | Pfaff |
dc.subject.other | Robot. |
dc.title | Control of robotic systems using differential flatness |
dc.type | Master thesis |
dc.subject.lemac | Sistemes de control |
dc.subject.ams | Classificació AMS::93 Systems Theory; Control::93B Controllability, observability, and system structure |
dc.identifier.slug | FME-1167 |
dc.rights.access | Open Access |
dc.date.lift | 10000-01-01 |
dc.date.updated | 2015-07-10T11:55:32Z |
dc.audience.educationlevel | Màster |
dc.audience.mediator | Universitat Politècnica de Catalunya. Facultat de Matemàtiques i Estadística |
dc.audience.degree | MÀSTER UNIVERSITARI EN MATEMÀTICA AVANÇADA I ENGINYERIA MATEMÀTICA (Pla 2010) |