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Geometric Approaches to Control in the Presence of Magnitude and Rate Saturations 
Abstract 
This paper gives a survey of some recent r … This paper gives a survey of some recent results on control of systems with magnitude
and rate limits, motivated by problems in realtime trajectory generation and tracking for
unmanned aerial vehicles. Two problems are considered: stabilization using ``nonlinear
wrappers'' to rescale a given control law and realtime trajectory generation using
differential flatness. For both problems, simplified versions of the general problem are
studied using tools from differential geometry and nonlinear control to give insights into
the limitations imposed by magnitude and rate limits and provide insights into
constructive solutions to the trajectory generation and tracking problems. ajectory generation and tracking problems. +


Authors  Richard M. Murray + 
ID  1999b + 
Source  In <i>The Astrom Symposium on Control</i>, pp. 4372 + 
Tag  mur99lund + 
Title  Geometric Approaches to Control in the Presence of Magnitude and Rate Saturations + 
Type  CDS Technical Report + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:19:35 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/mur99lund.pdf + 
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Geometric Approaches to Control in the Presence of Magnitude and Rate Saturations +  Title 
