Computation of state and input trajectories for flat systems using automatic differentiation. (Q1428137)
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scientific article; zbMATH DE number 2056275
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Computation of state and input trajectories for flat systems using automatic differentiation. |
scientific article; zbMATH DE number 2056275 |
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Computation of state and input trajectories for flat systems using automatic differentiation. (English)
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14 March 2004
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A method for a numerical pointwise system inversion is presented to compute the input for a given output curve. It applies to flat systems, and automatic differentiation is used. This method is applied to an underactuated manipulator. It is also extended to descriptor systems.
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system inversion
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automatic differentiation
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descriptor systems
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flat systems
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underactuated manipulator
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