Analysis of applicability of flatness-based control for nonlinear underactuated systems.

This research project focuses on developing advanced control strategies for nonlinear underactuated systems, which are characterized by having fewer control inputs than degrees of freedom—making them inherently difficult to manage.

At the heart of the project lies the concept of differential flatness, a powerful framework that simplifies control design and trajectory planning by transforming nonlinear systems into a form more amenable to established linear techniques. The work addresses key challenges such as the systematic computation of flat outputs and the strategic placement of sensors and actuators to achieve flatness.

Through rigorous mathematical analysis, numerical simulations, and experimental validation in robotics, the project aims to evaluate the robustness and practical effectiveness of flatness-based control methods. The outcomes are expected to contribute significantly to the theoretical foundation and real-world application of these methods.

The work was supported by the National Science Centre, Poland, under research project no UMO-2021/41/N/ST7/03040