OBC: Trajectory Generation and Tracking
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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.
- Chapter PDF (4 Jan 09)