Trajectory Generation for a Towed Cable System using Differential Flatness

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Richard M. Murray
1996 IFAC World Congress

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.