Principal Investigator (PI): Markus Schöberl

Research Associates:

• Pre-Doc  Georg Hartl, Johannes Schrotshamer
• Post-Doc Bernd Kolar, Conrad Gstöttner

Scientific Partner: N.N.

Publications:

G. Hartl, C. Gstöttner, B, Kolar, M. Schöberl,  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, 2024, IFACPapersOnline, opens an external URL in a new window 58(6), pp. 256-261, 2004 arXiv, opens an external URL in a new window,

G. Hartl, C. Gstöttner, B, Kolar, M. Schöberl, On the Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Systems in Generalized State Representation, 26th International Symposium on Mathematical Theory of Networks and Systems, IFACPapersOnLine, opens an external URL in a new window 58(17) , pp. 244-249, 2024 arXiv, opens an external URL in a new window

C. Gstöttner, B. Kolar, M. Schöberl. A Triangular Normal Form for x-Flat Control-Affine Two-Input Systems, 28th International Conference on Methods and Models in Automation and Robotics, 2024, IEEEXplore,, opens an external URL in a new window arXiv, opens an external URL in a new window

C. Gstöttner, B. Kolar, M. Schöberl, Tracking Control for (x, u)-Flat Systems by Quasi-Static Feedback of Classical States, Symmetry, Integrability and Geometry: Methods and Applications (SIGMA, opens an external URL in a new window), 20, 2024,

Preprints:

B. Kolar, J. Schrotshamer, M. Schöberl, A Dual Geometric Test for Forward-Flatness, 2024, arXiv, opens an external URL in a new window

J. Schrotshamer, B. Kolar, M. Schöberl, Duality of Geometric Tests for Forward-Flatness, 2024, arXiv, opens an external URL in a new window

Talks:

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, Besancon, France, June 2024 (G. Hartl)

On the Exact Linearization of Minimally Underactuated Configuration Flat Lagrangian Systems in Generalized State Representation, 26th International Symposium on Mathematical Theory of Networks and Systems, Camebridge, England, July 2024 (B. Kolar)

A Triangular Normal Form for x-Flat Control-Affine Two-Input Systems, 28th International Conference on Methods and Models in Automation and Robotics, Międzyzdroje, Poland, August 2024 (C. Gstöttner)

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.