This paper proposes several nonlinear control strategies for trajectory trackingof a quadcopter system based on the property of differential flatness. Its origi-nality is twofold. Firstly, it provides a flat output for the quadcopter dynamicscapable of creating full flat parametrization of the states and inputs. Moreover,B-splines characterizations of the flat output and the...

A pattern-recognition method for flatness defect based on CMAC neural network is proposed, and a flatness fuzzy controller based on the pattern-recognition results is designed in this paper. Pattern-recognition and controller are designed into a single unit, in which CMAC recognizes the membership grade relative to six basic modes of common flatness defect and realizes the seeking function of t...

We present a steering algorithm for general nonholonomic systems which are not required to possess special properties such as flatness or exact nilpotentizability. The method makes use of local steering laws, with suitable contraction properties, designed on the basis of a continuous approximation of the system.

In this article, we present $GPW$-flatness property of acts over monoids, which is a generalization of principal weak flatness. We say that a right $S$-act $A_{S}$ is $GPW$-flat if for every $s in S$, there exists a natural number $n = n_ {(s, A_{S})} in mathbb{N}$ such that the functor $A_{S} otimes {}_{S}- $ preserves the embedding of the principal left ideal ${}_{S}(Ss^n)$ into ${}_{S}S$. We...

We introduce flat systems, which are equivalent to linear ones via a special type of feedback called endogenous. Their physical properties are subsumed by a linearizing output and they might be regarded as providing another nonlinear extension of Kalman’s controllability. The distance to flatness is measured by a non-negative integer, the defect. We utilize differential algebra which suits well...

We study when R → S R \to S has...

The problem of estimating cosmological parameters such as  from noisy or incomplete data is an example of inverse problems and, as such, generally requires a probabilistic approach. We adopt the Bayesian interpretation of probability for such problems and stress the connection between probability and information which this approach makes explicit. This connection is important even when informa...

We derive near optimal performance guarantees for subsampled blind deconvolution. Blind deconvolution is an ill-posed bilinear inverse problem and additional subsampling makes the problem even more challenging. Sparsity and spectral flatness priors on unknown signals are introduced to overcome these difficulties. While being crucial for deriving desired near optimal performance guarantees, unli...

valdis laan in [5] introduced an extension of strong flatness which is called weak pullback flatness. in this paper we introduce a new property of acts over monoids, called u-wpf which is an extension of weak pullback flatness and give a classification of monoids by this property of their acts and also a classification of monoids when this property of acts implies others. we also show that regu...