Discrete-time Flatness-based Controller Design using an Implicit Euler-discretization

被引：0

作者：

Diwold, Johannes ^{[1
]}

Kolar, Bernd ^{[2
]}

Schoeberl, Markus ^{[1
]}

机构：

[1] Johannes Kepler Univ Linz, Inst Automat Control & Control Syst Technol, Altenbergerstr 66, A-4040 Linz, Austria

[2] Magna Powertrain Engn Ctr Steyr GmbH & Co KG, Steyrer Str 32, A-4300 St Valentin, Austria

来源：

IFAC PAPERSONLINE | 2023年 / 56卷 / 01期

基金：

奥地利科学基金会;

关键词：

discrete-time flatness; discretization; sampled-data control; feedback linearization; tracking control; SYSTEMS;

D O I：

10.1016/j.ifacol.2023.02.024

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this contribution, we present a constructive method to derive flat sampled-data models for continuous-time flat systems through an implicit Euler-discretization. We show how the sampled-data model can be used subsequently for a flatness-based controller design, and illustrate our results with the well-known planar VTOL aircraft example. Copyright (c) 2023 The Authors. This is an open access article under the CC BY-NC-ND license (<THESTERM>https://creativecommons.org/licenses/by-ne-nd/4.0/</THESTERM>)

引用

页码：138 / 143

页数：6

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