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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.  +
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
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15 May 2016 06:20:33  +
URL
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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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