NCS: Real-Time Trajectory Generation: Difference between revisions
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{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --> | {{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --> | ||
In this lecture we provide an overview of real-time trajectory generation for nonlinear control systems. Using the concept of differential flatness, we show how to convert the trajectory generation problem from one in optimal control to one of optimization. Efficient numerical methods can then be used to find trajectories that satify the system dynamics and constraints, as well as minimizing a cost function. We concentrate on methods for real-time trajectory generation, and in particular the [[NTG]] software package. | |||
== Lecture Materials == | == Lecture Materials == | ||
* [[Media:L3-1_ntg.pdf|Lecture: Nonlinear Trajectory Generation]] | |||
== Reading == | == Reading == | ||
Revision as of 23:21, 7 April 2006
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In this lecture we provide an overview of real-time trajectory generation for nonlinear control systems. Using the concept of differential flatness, we show how to convert the trajectory generation problem from one in optimal control to one of optimization. Efficient numerical methods can then be used to find trajectories that satify the system dynamics and constraints, as well as minimizing a cost function. We concentrate on methods for real-time trajectory generation, and in particular the NTG software package.
