Differential flatness based hybrid PID/LQR flight controller for complex trajectory tracking in quadcopter UAVs

2017 ◽  
Author(s):  
Rumit Kumar ◽  
Matthew Dechering ◽  
Abhishek Pai ◽  
Austin Ottaway ◽  
M. Radmanesh ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Differential Flatness ◽  
Complex Trajectory

CONTROL OF THE CHUA'S SYSTEM BASED ON A DIFFERENTIAL FLATNESS APPROACH

2004 ◽  
Vol 14 (03) ◽  
pp. 1059-1069 ◽  
Author(s):  
CARLOS AGUILAR-IBÁÑEZ ◽  
MIGUEL SUÁREZ-CASTAÑÓN ◽  
HEBERTT SIRA-RAMÍREZ
Keyword(s):  
Trajectory Tracking ◽  
Controller Design ◽  
Pole Placement ◽  
Differential Flatness ◽  
Tracking Problem ◽  
Chaotic Circuit ◽  
Set Point ◽  
Control Approach ◽  
Additional Input ◽  
Design Options

In this paper, we present a flatness based control approach for the stabilization and tracking problem, for the well-known Chua chaotic circuit, that includes an additional input. We introduce two feedback controller design options for the set-point stabilization and the trajectory tracking problem: a direct pole placement approach, and Generalized Proportional Integral (GPI) approach based only on measured inputs and outputs.

scholarly journals Differential flatness applied to vehicle trajectory tracking

2008 ◽  
Author(s):  
W.C. Lu ◽  
L. Duan ◽  
Hsiao Fei-Bin ◽  
F. Mora-Camino
Keyword(s):  
Trajectory Tracking ◽  
Differential Flatness ◽  
Vehicle Trajectory

scholarly journals Validated Trajectory Tracking using Flatness

2021 ◽  
Author(s):  
Olivier Mullier ◽  
Julien Alexandre dit Sandretto
Keyword(s):  
Dynamical Systems ◽  
Trajectory Tracking ◽  
Differential Flatness ◽  
Path Planner

The problem of a safe trajectory tracking is addressed in this paper. It consists in using the results of a validated path planner providing a set of safe trajectories to produce the set of controls to apply to remain inside this set of planned trajectories while avoiding static obstacles. This computation is performed using the differential flatness of many dynamical systems. The method is illustrated in the case of the Dubins car.

An Alternative for Trajectory Tracking in Mobile Robots Applying Differential Flatness

2013 ◽  
pp. 148-160
Author(s):  
Elkin Yesid Veslin Díaz ◽  
Jules G. Slama ◽  
Max Suell Dutra ◽  
Omar Lengerke Pérez ◽  
Hernán Gonzalez Acuña
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Differential Flatness ◽  
Boundary Values ◽  
Route Finding ◽  
Point To Point

One solution for trajectory tracking in a non-holonomic vehicle, like a mobile robot, is proposed in this chapter. Using the boundary values, a desired route is converted into a polynomial using a point-to-point algorithm. With the properties of Differential Flatness, the system is driven along this route, finding the necessary input values so that the system can perform the desired movement.

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