Output Feedback Tracking Control of Flat Systems via Exact Feedforward Linearization and LPV Techniques

In this article, an output feedback control scheme is proposed for trajectory tracking of differentially flat systems. After applying the exact feedforward linearization, the tracking error dynamics is linearized as a linear time-varying (LTV) system, where only the state matrix is time-varying while the input and output matrices are time-invariant. Using linear parameter-varying (LPV) techniques based on polytopes, for the LTV system the controller matrices, which are set to be affine on time-varying parameters, are calculated by solving a set of linear matrix inequalities (LMIs). An example for trajectory tracking of a two-wheeled mobile robot is given to show the effectiveness of the proposed method.