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Real Time Trajectory Generation for Differentially Flat Systems with Unstable Zero Dynamics |
Abstract |
We define the real time trajectory generat … We define the real time trajectory generation problem to be how to generate,
possibly with some delay, a full state space and input trajectory in real
time from an output trajectory that is given online, while allowing a
tradeoff between stability and performance. We
propose two algorithms that solve the real time trajectory generation
problem for flat systems with zero dynamics, and discuss some interesting
properties. We explicitly address the tradeoff between stability and
performance. The algorithms are validated in simulations and experiments
with a thrust vectored ducted fan aircraft. ith a thrust vectored ducted fan aircraft. +
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Authors | Michiel van Nieuwstadt and Richard M. Murray + |
Flags | NoRequest + |
ID | 1995j + |
Source | 1996 IFAC World Congress + |
Tag | nm96-ifac + |
Title | Real Time Trajectory Generation for Differentially Flat Systems with Unstable Zero Dynamics + |
Type | Preprint + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:20:33 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/nm96-ifac.pdf + |
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Real Time Trajectory Generation for Differentially Flat Systems with Unstable Zero Dynamics + | Title |
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