OBC: Trajectory Generation and Tracking

Trajectory Generation and Tracking

This chapter expands on Section 7.5 of the main text, which introduces the use of feedforward compensation in control system design. We begin with a review of the two degree of freedom design approach and then focus on the problem of generating feasible trajectories for a (nonlinear) control system. We make use of the concept of diﬀerential ﬂatness as a tool for generating feasible tra jectories.