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Thesis Defense: Real-Time Trajectory Generation for Constrained Nonlinear Dynamical Systems Using Non-Uniform Rational B-spline Basis Functions Melvin Flores Monday, November 12, 20079:00 AM to 10:00 AM Steele 114 (CDS Library) The thesis describes a new method for obtaining minimizers for optimal control problems whose minima serve as control policies for guiding nonlinear dynamical systems to achieve prescribed goals under imposed trajectory and actuator constraints. The major contribution of the present work resides in the approximation of such minimizers by piecewise polynomials functions expressed in terms of a linear combination of non-uniform rational B-spline (NURBS) basis functions and the judicious exploitation of the properties of the resulting NURBS curves for use in trajectory generation. |
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