View source for Trajectory Generation for a Towed Cable System using Differential Flatness

{{HTDB paper
| authors = Richard M. Murray
| title = Trajectory Generation for a Towed Cable System using Differential Flatness
| source = 1996 IFAC World Congress
| year = 1996
| type = Conference paper
| funding = AFOSR, NSF
| url = http://www.cds.caltech.edu/~murray/preprints/mur96-ifac.pdf
| abstract = 
In this paper we consider the problem of generating feasible motions
for a towed cable, flight control system that has been proposed for
use in remote sensor applications.  Using the fact that the system is
differentially flat, we illustrate how to construct feasible
trajectories for the system and demonstrate the strengths and
limitations of this approach.  Simulations of the full dynamics are
included to illustrate the proposed techniques.  A significant
limitation of the current approach is the numerical instability of the
algorithm, resulting in the need for careful tuning of parameters to
achieve convergence.
| flags = 
| tag = mur96-ifac
| id = 1996b
}}