Joachim Deutscher

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  • J. Deutscher
  • 2006
This paper presents a numerical approach for the approximate observer error linearization technique of Kazantzis (1998) and Krener (2002), The proposed design procedure is based on the solution of a linear matrix equation that is obtained in explicit form. In addition, an alternative method for computing the change of coordinates and the output injection is(More)
This paper presents an approximate input-output linearization approach for nonminimum phase nonlinear systems with linear unforced dynamics. A special Byrnes Isidori normal form is introduced, where the internal dynamics are not affected by the inputs up to second order such that the corresponding transformation can be obtained by solving linear equations.(More)
In this paper a two-step trajectory planning algorithm is applied to generate suitable trajectories for an autonomous parking maneuver of a car. It is shown how important requirements of the automotive industry can be met with the proposed approach. Furthermore, some details on the implementation of the algorithm are given, which are essential to obtain(More)