FLATNESS-BASED CONTROL OF MIMO LINEAR SYSTEMS

被引：0

作者：

Ben Abdallah, Mohamed ^{[1
]}

Ayadi, Mounir ^{[1
]}

Benrejeb, Mohamed ^{[1
]}

机构：

[1] Ecole Natl Ingn Tunis, Unite Rech LARA Automat, Tunis 1002, Tunisia

来源：

2009 6TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS AND DEVICES, VOLS 1 AND 2 | 2009年

关键词：

Flat systems; Path planning; Path tracking; MIMO systems; State feedback control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper, deals with a control method of linear multi-input multi-output (MIMO) system, developed in order to ensure the tracking of a reference trajectory. The flatness-based controller for studied system allows to solve path planning and path tracking problems. The desired trajectory is designed using the flatness property of controllable system. The flatness concept in path planning is considered when the trajectory is fixed, to determine the control signals to apply in open-loop without integrating any differential equations. The flat output is determined using two different approaches and trajectories are designed for system variables using the DGI filter. The simulation results point out the effectiveness of the developed method.

引用

页码：216 / 221

页数：6

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