This paper concerns the application of flatness principle to fractional systems. In path planning, the flatness concept is used when the trajectory is fixed (in space and in time), to determine the controls inputs to apply without having to integrate any differential equations.
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Melchior, P., Cugnet, M., Sabatier, J., Poty, A., Oustaloup, A. (2007). Flatness Control of a Fractional Thermal System. In: Sabatier, J., Agrawal, O.P., Machado, J.A.T. (eds) Advances in Fractional Calculus. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-6042-7_34
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DOI: https://doi.org/10.1007/978-1-4020-6042-7_34
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