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Approximate Trajectory Generation for Differentially Flat Systems with Zero Dynamics |
Abstract |
This paper describes algorithms to generat … This paper describes algorithms to generate trajectories
for differentially flat systems with zero dynamics.
Zero dynamics in flat systems occur when the flat outputs
are not the tracking outputs. This means that the output
trajectories can be fully parametrized by the flat outputs,
but that there is some additional freedom left.
This freedom can be exploited to minimize a cost criterion.
We parametrize the differentially
flat outputs by basis functions, and solve for the parameters
so as to track a prescribed trajectory approximately
while minimizing a cost function.
We focus on implementation issues and point out the computational
cost involved in the various problems. al
cost involved in the various problems. +
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Authors | M. van Nieuwstadt, R. M. Murray + |
Flags | NoRequest + |
ID | 1995c + |
Source | 1995 Conference on Decision and Control + |
Tag | nm95-cdc + |
Title | Approximate Trajectory Generation for Differentially Flat Systems with Zero Dynamics + |
Type | Conference paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:20:38 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/nm95-cdc.pdf + |
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Approximate Trajectory Generation for Differentially Flat Systems with Zero Dynamics + | Title |
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