Stabilization of Differentially Flat Nonlinear Systems by Repeating Trajectory Planning

Abstract

Trajectory planning is well-known control technique for differentially flat systems. However this technique requires an accurate state space model of the system, therefore it is difficult to apply this technique directly for the control of actual uncertain systems. In this paper, we proposes a new control technique based on the trajectory planning for differentially flat systems with input uncertainty in which the trajectory planning is repeated to reduce the influence of the uncertainty. We verify the performance of the proposed control technique by the numerical case studies for a two wheel vehicle model with input uncertainty, and then discuss the stability and the performance of the control system from the theoretical point of view.