Abstract
We present a flatness-based averaging control system (FACS), for the purpose of controlling a class of nonlinear systems, namely differentially flat systems. Discrete-time control system design methods are first presented. The methods pertain to FACS and classical feedback linearization and linear control. The methods are then applied to the control of the motion of a wheeled mobile robot (WMR). The chapter concludes with simulation results.
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© 2014 Springer Science+Business Media New York
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Rabbath, C., Léchevin, N. (2014). Flatness-based Control. In: Discrete-Time Control System Design with Applications. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-9290-0_6
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DOI: https://doi.org/10.1007/978-1-4614-9290-0_6
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Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4614-9289-4
Online ISBN: 978-1-4614-9290-0
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