Trajectory Tracking Control with Flat Inputs and a Dynamic Compensator

TL;DR

This paper introduces a novel trajectory tracking control method using flat inputs and a dynamic compensator, applicable to non-flat and observable systems with stable internal dynamics, demonstrated on a variable-length pendulum.

Contribution

It presents a new control design that extends flatness-based control to non-flat outputs and systems with singularities, broadening applicability.

Findings

Effective tracking on a variable-length pendulum

Handles non-flat nonlinear systems with singularities

Applicable to systems with stable internal dynamics

Abstract

This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output may be a non-flat output, or the system may be non-flat. The method is applicable to observable systems with stable internal dynamics. The performance of the new design is demonstrated on the variable-length pendulum, a non-flat nonlinear system with a singularity in the relative degree.