Proceedings ArticleDOI
Methods for trajectory generation in a magnetic-levitation system under constraints
Fajar Suryawan,José A. De Doná,Maria M. Seron +2 more
- pp 945-950
TLDR
In this paper, the authors discuss two methods to generate trajectories for a magnetic-levitation (Maglev) system in the presence of constraints and compare each method's performance, based on the notion of differential flatness and spline parametrisation of every signal.Abstract:
In this work, we discuss two methods to generate trajectories for a magnetic-levitation (Maglev) system in the presence of constraints and compare each method's performance. The methods are based on the notion of differential flatness and spline parametrisation of every signal. The first method uses the nonlinear model of the plant, which turns out to belong to the class of flat systems. The second method uses a linearised version of the plant model around an operating point. In every case, a continuous-time description is used. Experimental results on a real Maglev system, reported here, show that, in most scenarios, the nonlinear and linearised model produce almost similar, indistinguishable trajectories.read more
Citations
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Proceedings ArticleDOI
Flatness Based Trajectory Generation For A Helicopter UAV
TL;DR: This paper presents a novel trajectory planner framework, anchored in the combined paradigms of differential flatness and neural networks, and allowing for computationally tractable optimal control problems, and demonstrates the applicability of the proposed approach.
Journal Article
Asymptotic differentiation of signals in the trajectory tracking control of a differentially flat nonlinear magnetic suspension system
Francisco Beltrán Carbajal,Antonio Favela Contreras,Antonio Valderrábano González,Gerardo Silva Navarro +3 more
TL;DR: In this paper, a novel scheme for signal differentiation is proposed for asymptotic estimation of velocity and acceleration, which can be utilized in many control applications of practical engineering systems where the differentiation of any signal is required.
Proceedings ArticleDOI
Design of a Fuzzy-Controller for a Magnetic Levitation System using Hall-Effect sensors
TL;DR: This paper shows the implementation of Fuzzy Control techniques on a small Magnetic Levitation system and the results and the different figures of merit obtained are shown by simulating the model presented.
Asymptotic differentiation of signals in the trajectory tracking control of a differentiallyat nonlinear magnetic suspension system Diferenciación asintótica de señales en el control de seguimiento de trayectorias de un sistema de suspensión magnética no lineal diferencialmente plano
TL;DR: This paper deals with the problem of time-varying desired position reference trajectory tracking tasks for an object in a differentiallyat nonlinear magnetic levitation system using position measurements only.
References
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Book
A practical guide to splines
TL;DR: This book presents those parts of the theory which are especially useful in calculations and stresses the representation of splines as linear combinations of B-splines as well as specific approximation methods, interpolation, smoothing and least-squares approximation, the solution of an ordinary differential equation by collocation, curve fitting, and surface fitting.
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The NURBS Book
Les A. Piegl,Wayne Tiller +1 more
TL;DR: This chapter discusses the construction of B-spline Curves and Surfaces using Bezier Curves, as well as five Fundamental Geometric Algorithms, and their application to Curve Interpolation.
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Flatness and defect of non-linear systems: introductory theory and examples
TL;DR: In this paper, the authors introduce flat systems, which are equivalent to linear ones via a special type of feedback called endogenous feedback, which subsumes the physical properties of a linearizing output and provides another nonlinear extension of Kalman's controllability.
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Differentially Flat Systems
TL;DR: This chapter discusses linear time-Invariant SISO Systems, MIMO Systems, and Flatness and Optimal Trajectories.
Journal ArticleDOI
Modeling and nonlinear control of magnetic levitation systems
A. El Hajjaji,Mustapha Ouladsine +1 more
TL;DR: A nonlinear model for magnetic levitation systems which is validated with experimental measurements and a real-time implementation of this model based on differential geometry is developed.