A reconstruction of admissible reference signals for the inner dynamics upon a prescribed
output reference of a dynamical system is a one of the key problems stated in the control …

In this contribution, we provide a constructive way to transform a generic Lagrangian
mechanical control system into the well-known Byrnes–Isidori normal form. Then, we restrict …

The generation of feasible trajectories poses an eminent task in the field of control design in
mechanical systems. The paper demonstrates innovative approach in trajectory planning for …

The concept of differential flatness is an elegant approach to system analysis and the design
of controllers and observers. In many cases, however, the main difficulty is the determination …

Computing the admissible reference statetrajectory for the non-flat dynamical systems is
generally a non-trivial problem. If the system is additionally nonminimumphase the problem …

Die vorliegende Arbeit entstand während meiner Tätigkeit am Institut für Regelungsund
Steuerungstheorie der TU Dresden. Dessen Direktor, Herrn Prof. Dr.-Ing. habil. Dipl.-Math …

As autonomous systems develop an ever expanding range of capabilities, monolithic
systems (systems with multiple capabilities on a single platform) become increasingly …

We consider a two-wheeled single axle vehicle freely moving on the horizontal plane. This
system is underactuated, nonholonomic and unstable. In order to achieve a simple control …