Murray: htdb2wiki: creating page for 1996l_nm96-ijrnc.html

2016-05-15T06:20:13Z

htdb2wiki: creating page for 1996l_nm96-ijrnc.html

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{{HTDB paper
| authors = Michiel J. van Nieuwstadt and Richard M. Murray
| title = Real Time Trajectory Generation for Differentially Flat Systems
| source = <i>Int'l. J. Robust & Nonlinear Control</i> 8:(11) 995-1020
| year = 1998
| type = CDS Technical
report (preprint)
| funding = NSF, AFOSR
| url = http://www.cds.caltech.edu/~murray/preprints/nm96-ijrnc.pdf
| abstract = This paper considers the problem of real time trajectory generation and tracking for
nonlinear control systems. We employ a two degree of freedom approach that separates the
nonlinear tracking problem into real time trajectory generation followed by local
(gain-scheduled) stabilization. The central problem which we consider is how to generate,
possibly with some delay, a feasible state space and input trajectory in real time from an
output trajectory that is given online. We propose two algorithms that solve the real time
trajectory generation problem for differentially flat systems with (possibly non-minimum
phase) zero dynamics. One is based on receding horizon point to point steering, the other
allows additional minimization of a cost function. Both algorithms explicitly address the
tradeoff between stability and performance and we prove convergence of the algorithms for
a reasonable class of output trajectories. To illustrate the application of these
techniques to physical systems, we present experimental results using a vectored thrust
flight control experiment built at Caltech. A brief introduction to differentially flat
systems and its relationship with feedback linearization is also included.
| flags =
| tag = nm96-ijrnc
| id = 1996l
}}

Real Time Trajectory Generation for Differentially Flat Systems - Revision history

Murray: htdb2wiki: creating page for 1996l_nm96-ijrnc.html