The trajectory tracking problem for multivariable linear systems is considered. Two different techniques are examined: the output regulation theory (ORT) and the flatness based tracking (FBT). ORT and FBT are two different approaches to solve the tracking problem, and both methods have different restrictions. The tracking controller of the ORT furthermore depends on the solution of the so-calle...

Recent work has demonstrated fast, agile flight using only vision as a position sensor and no GPS. Current feedback controllers for fast vision-based typically rely on full-state estimate, including position, velocity acceleration. An accurate estimate is often challenging to obtain due noisy IMU measurements, infrequent updates from the system, an imperfect motion model used high-rate state es...

this paper works on the concept of flatness and its practical application for the design of an optimal transient controller in a synchronous machine. the feedback linearization scheme of interest requires the generation of a flat output from which the feedback control law can easily be designed. thus the computation of the flat output for reduced order model of the synchronous machine with simp...

The purpose of this paper is to design a guidance and control system and evaluate the performance of a sample surface‑to‑surface flying object based on preset guidance with a new prospective. In this study, the main presented idea is usage of unique property of governor differential equations in order to design and develop a controlled system. Thereupon a set of system output variables have bee...

This paper addresses the problem of asymptotic tracking control of a linear parabolic partial differential equation with indomain point actuation. As the considered model is a non-standard partial differential equation, we firstly developed a map that allows transforming this problem into a standard boundary control problem to which existing infinite-dimensional system control methods can be ap...

As an example of a spatial manipulator with large work space a 3-DOF overhead crane is considered. A nonlinear model of the overhead crane, including drive dynamics, is derived. The drives of trolley and winch are controlled by velocity controllers. Therefore the dynamics of the drives can be approximated and thus included into the model description. The states of the system are parameterized b...

Constant power loads have negative impedance characteristics, which reduce the damping of DC/DC converter systems and effects on stability DC microgrid. In this paper, a finite-time parameter observer-based sliding mode controller is proposed for boost with constant loads. Firstly, non-singular terminal sliding-mode designed based flatness differential control theory. Secondly, observer to esti...

In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques are used to generate collision-free motion plans for a team of vehicles to satisfy a temporal logic specification. Vector fields are created for use with a differential flatness-based controller, allowing vehicle flight and deployment to be fully automat...

In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques were used to generate collision-freemotionplans for a teamof vehicles to satisfy a temporal logic specification.Vector fieldswere created for usewith a differential flatness-based controller, allowing vehicle flight and deployment to be fully automated a...

This article addresses the design of a discrete-time flatness-based tracking control for gantry crane and demonstrates practical applicability approach by measurement results. The required sampled-data model is derived an Euler-discretization with prior state transformation in such way that flatness continuous-time system preserved. Like case, controller performed two steps. First, exactly line...