Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 7 of 7 for “"differential flatness"”.
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Trajectory planner for agile flights in unknown environments
… known environment. By making use of the differential flatness of the UAV and removing the assumption of a completely known world, we then use a convex decomposition of the space and reformulate the optimization problem of the local planner as a Mixed Integer Quadratic Program (MIQP). The …
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Algorithms for Generation and Tracking of Fast and Agile Flight Trajectories
… any vehicle aerodynamics model. Second, we show differential flatness of a global nonlinear six-degree-of-freedom (6DOF) flight dynamics model for a tailsitter flying wing transitioning aircraft. We leverage the flat transform to design an INDI flight control algorithm capable of tracking agile …
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Autonomous aggressive driving: theory & experiments
… planning algorithm using the vehicle's differential flatness. This approach avoids solving optimal control problems on-the-fly, while guaranteeing good racing performance in off-road racing.
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Distributed cooperative trajectory generation for multiple autonomous vehicles using Pythagorean Hodograph Bézier curves
… a key feature from a safety standpoint. By the differential flatness property of the dynamic system, the dynamic constraints can be expressed in terms of the trajectories and, therefore, in terms of Bézier polynomials. This allows the proposed framework to efficiently evaluate and, hence, …
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Control of Agentic Systems Using the Newton-Raphson Controller
… a class of nonlinear single-agent systems using differential flatness. We also want to extend the original tracking controller into the case of multi-agent systems. Specifically, we consider two different scenarios, namely the leaderless consensus control and the leader-follower consensus …
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A control architecture and human interface for agile, reconfigurable micro aerial vehicle formations
… aerial vehicle with a special property called differential flatness, which simplifies the algorithm of trajectory planning, such that, instead of planning a trajectory in a 12-dimensional state space and 4-dimensional input space, we only need to plan the trajectory in 4-dimensional, so called, …
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Piecewise Bézier curve trajectory generation and control for quadrotors
… It is also shown that the quadrotor system is differentially flat, which allows the analytical conversion of a time parameterized trajectory to states and outputs of the vehicle. Next, the thesis describes a control design approach in the non-Euclidean state space of quadrotors to achieve …