Differential Flatness and Its Application to Snake Robots

2021 ◽  
pp. 93-125
Author(s):  
Joyjit Mukherjee ◽  
Indra Narayan Kar ◽  
Sudipto Mukherjee
Keyword(s):  
Differential Flatness ◽  
Snake Robots

scholarly journals Design and control of multiphase interleaved boost converters-based on differential flatness theory for PEM fuel cell multi-stack applications

2021 ◽  
Vol 124 ◽  
pp. 106346
Author(s):  
Phatiphat Thounthong ◽  
Pongsiri Mungporn ◽  
Damien Guilbert ◽  
Noureddine Takorabet ◽  
Serge Pierfederici ◽  
...  
Keyword(s):  
Fuel Cell ◽  
Pem Fuel Cell ◽  
Differential Flatness ◽  
Differential Flatness Theory ◽  
Boost Converters ◽  
And Control

On complexity reduction of the discrete-event subsystem of Flat Hybrid Automata for control design

2020 ◽  
Vol 68 (7) ◽  
pp. 529-540
Author(s):  
Tobias Kleinert ◽  
Frederik Zahn ◽  
Veit Hagenmeyer
Keyword(s):  
Heuristic Algorithm ◽  
Adjacency Matrix ◽  
Discrete Event ◽  
Control Design ◽  
Differential Flatness ◽  
Hybrid Automata ◽  
Connected Automaton ◽  
Strongly Connected ◽  
Design Perspective ◽  
Technical Systems

AbstractThe class of hybrid systems describes most technical systems in great detail. However, the respective models and their behavior tend to be very complex. Recently, a new subclass of hybrid automata has been introduced, the Flat Hybrid Automata (FHA) that relies on the concepts of differential flatness for the continuous parts, and strongly connected automaton graphs for the discrete event part, in order to deal with the complexity from a design perspective. Therefore, we introduce in the present paper an approach to reduce the automaton graph of an FHA in a systematic way by removing edges from the adjacency matrix. The main contribution of the paper is twofold: Firstly, based on practical considerations we develop a heuristic algorithm to reduce the automaton graph. Secondly, we present possible ways to include knowledge about the system in the reduction.

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