Bertalan Beszedes, a lecturer at Obuda University, Alba Regia Faculty, participated in the international IEEE 8th International Conference AND Workshop in Obuda on Electrical and Power Engineering (CANDO-EPE 2026), held in Budapest from 26 to 28 May 2026.

https://conf.uni-obuda.hu/Cando2026

The title of the paper he presented at the conference was “Ехtended CTC as an differential flatness based control technique.” The paper reinterprets the Computed Torque Control (CTC) method as a special case of trajectory-equivalent linearization based on differential flatness. The authors introduce the concept of class C coordinate transformations, which transform nonlinear systems into trivial linear systems through static feedback, and define the class of type A flat systems that can be addressed within this framework. They demonstrate that the classical CTC control of serial robot manipulators can be incorporated into this approach, and subsequently apply the method to the kinematic model of a differential-drive wheeled mobile robot. The main contribution of the study is that it establishes a unified theoretical connection between traditional CTC, the differential-geometric approach, and robot control based on differential flatness.

The conference covered a wide range of topics, including energy systems, mechatronics, artificial intelligence, and electric drives. The event was supported by several prominent organizations, including Obuda University, the Zero Energy Buildings First Italian Network, and IEEE Hungary.