Principal Investigator (PI): Markus Schöberl

Research Associates:

• Pre-Doc (36h/week) Georg Hartl, Johannes Schrotshamer
• Post-Doc (5h/week) Bernd Kolar, Conrad Gstöttner

Scientific Partner: N.N

Publications:

Hartl G., Gstöttner C., Kolar B, Schöberl M., Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Control Systems by Quasi-Static Feedback of Classical States, 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control arXiv, öffnet eine externe URL in einem neuen Fenster, 2024 (accepted)

Preprints:

C. Gstöttner, B. Kolar, M. Schöberl. Control of (x,u)-flat systems by quasi-static feedback of classical states, 2023, arXiv, öffnet eine externe URL in einem neuen Fenster

Hartl G., Gstöttner C., Kolar B, Schöberl M., On the Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Systems in Generalized State Representation, 2024, arXiv, öffnet eine externe URL in einem neuen Fenster

C. Gstöttner, B. Kolar, M. Schöberl. A Triangular Normal Form for x-Flat Control-Affine Two-Input Systems, 2024, arXiv, öffnet eine externe URL in einem neuen Fenster

B. Kolar, J. Schrotshamer, M. Schöberl, A Dual Geometric Test for Forward-Flatness, 2024, arXiv, öffnet eine externe URL in einem neuen Fenster

Talks:

coming soon

Executive Summary:

The aim of this proposal is to further contribute to the theory and applications of flatness for both continuous-time and discrete-time systems. For continuous-time systems, the planned investigations include the  extensions of systems for which the geometric characterization allows the formulation of necessary and sufficient conditions that enable us to derive flat outputs systematically. Furthermore, our results that allow for a quasi-static feedback of classical states instead of a generalized one shall be broadened. For the less well known class of flat discrete-time systems, in particular, we plan to work towards extensions of our test for forward-flatness to the general case of discrete-time systems and intend to carry out investigations regarding the performance of discretetime tracking control laws in practical applications.