Fly Out the Window: Exploiting Discrete-Time Flatness for Fast Vision-Based Multirotor Flight

On Flatness of Discrete-Time Nonlinear Systems

The paper addresses the problem of dynamic feedback linearization of discrete-time nonlinear control systems. Analogously to the continuous-time case, necessary and sufficient conditions for flatness property are obtained and showed to be equivalent to previously known results on feedback linearizability by endogenous dynamic feedback. An example is added to illustrate the results.

Time: devotion turns fly to flight.

The following is a personal reminiscence to commemorate Professor Martin Heisenberg's retirement from university duties as Professor Emeritus.

Development of Flight Path Planning for Multirotor Aerial Vehicles

This study addresses the flight-path planning problem for multirotor aerial vehicles (AVs). We consider the specific features and requirements of real-time flight-path planning and develop a rapidly-exploring random tree (RRT) algorithm to determine a preliminary flight path in three-dimensional space. Since the path obtained by the RRT may not be optimal due to the existence of redundant waypo...

Discrete-time hypersonic flight control based on extreme learning machine

This paper describes the neural controller design for the longitudinal dynamics of a generic hypersonic flight vehicle (HFV). The dynamics are transformed into the strict-feedback form. Considering the uncertainty, the neural controller is constructed based on the single-hidden layer feedforward network (SLFN). The hidden node parameters are modified using extreme learning machine (ELM) by assi...

Invertibility and Flatness of Switched Linear Discrete-Time Systems