Jet Scheduling for Flat Systems

The goal is to Improve the robustness of flatness-based control with application to nonholonomic robots and crane control. The jet-scheduling methodology that separates the dynamics into two parts, one with small gains that allow gentle, yet swift, convergence to the equilibrium; another with large aggressive gains that help reject model mismatch such as dry friction appearing on the motor drives. Since it rests on differential flatness, it takes all nonlinear inertial forces into account to compensate for their negative effect on the convergence process. The name “Jet Scheduling” comes from the fact that it incorporates a dynamic exosystem that, instead of generating a full trajectory or path to track, it generates only higher order derivatives in the jet bundle of the flat output.

 D. Buccieri, D. Perritaz, P. Mullhaupt, Z. P. Jiang and D. Bonvin. Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments,in IEEE Transactions on Robotics and Automation, vol. 25, num. 2, p. 451-458, 2009.