FWF Project P36473: 04/2023-03/2026
Principal Investigator (PI): Markus Schöberl
Scientific Partner: N.N
Hartl G., Gstöttner C., Kolar B, Schöberl M., Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States, arXiv, öffnet eine externe URL in einem neuen Fenster, 2023
The aim of this proposal is to further contribute to the theory and applications of flatness for both continuous-time and discrete-time systems. For continuous-time systems, the planned investigations include the extensions of systems for which the geometric characterization allows the formulation of necessary and sufficient conditions that enable us to derive flat outputs systematically. Furthermore, our results that allow for a quasi-static feedback of classical states instead of a generalized one shall be broadened. For the less well known class of flat discrete-time systems, in particular, we plan to work towards extensions of our test for forward-flatness to the general case of discrete-time systems and intend to carry out investigations regarding the performance of discretetime tracking control laws in practical applications.