On the computation of π-flat outputs for differential-delay systems

Felix Antritter (1) , Franck Cazaurang (2) , Jean Lévine (3) , Johannes Middeke (4)

1 Automatisierungs und Regelungstechnik
2 IMS - Laboratoire de l'intégration, du matériau au système
3 CAS - Centre Automatique et Systèmes
4 RISC - Research Institute for Symbolic Computation

We introduce a new definition of π-flatness for linear differential delay systems with time-varying coefficients. We characterize π- and π-0-flat outputs and provide an algorithm to efficiently com- pute such outputs. We present an academic example of motion planning to discuss the pertinence of the approach.

Mots clés: differential delay systems; differential flatness; π-flatness; Ore polynomials; motion planning; Modules

Domaines: Automatique / Robotique

Felix Antritter, Franck Cazaurang, Jean Lévine, Johannes Middeke. On the computation of π-flat outputs for differential-delay systems. 2012. ⟨hal-00710882⟩