Motion planning and boundary control for a class of linear PDEs with constant coefficients is presented. With the proposed method transitions from rest to rest can be achieved in a prescribed finite time. When parameterizing the system by a flat output, the system trajectories can be calculated from the flat output trajectory by evaluating definite convolution integrals. The compact kernels of the integrals can be calculated using infinite series. Explicit formulae are derived employing Mikusiński’s...
Motion planning and boundary control for a class of linear PDEs with
constant coefficients is presented. With the proposed method transitions
from rest to rest can be achieved in a prescribed finite time. When
parameterizing the system by a flat output, the system trajectories can be
calculated from the flat output trajectory by evaluating definite
convolution integrals. The compact kernels of the integrals can be
calculated using infinite series. Explicit formulae are derived employing
...
The problem of invariant output tracking is considered: given a control system admitting a symmetry group , design a feedback such that the closed-loop system tracks a desired output reference and is invariant under the action of . Invariant output errors are defined as a set of scalar invariants of ; they are calculated with the Cartan moving frame method. It is shown that standard tracking methods based on input-output linearization can be applied to these invariant errors to yield the required...
The problem of invariant output tracking is considered: given a control system
admitting a symmetry group , design a feedback such that the
closed-loop system tracks a desired output reference and is invariant under the action of .
Invariant output errors are defined as a set
of scalar invariants of ; they are calculated with the Cartan moving frame
method. It is shown that standard tracking methods based on input-output linearization can be applied to
these invariant errors to yield the...
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