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Trajectory Generation for a Towed Cable System using Differential Flatness |
Abstract |
In this paper we consider the problem of g … In this paper we consider the problem of generating feasible motions
for a towed cable, flight control system that has been proposed for
use in remote sensor applications. Using the fact that the system is
differentially flat, we illustrate how to construct feasible
trajectories for the system and demonstrate the strengths and
limitations of this approach. Simulations of the full dynamics are
included to illustrate the proposed techniques. A significant
limitation of the current approach is the numerical instability of the
algorithm, resulting in the need for careful tuning of parameters to
achieve convergence. ning of parameters to
achieve convergence. +
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Authors | Richard M. Murray + |
ID | 1996b + |
Source | 1996 IFAC World Congress + |
Tag | mur96-ifac + |
Title | Trajectory Generation for a Towed Cable System using Differential Flatness + |
Type | Conference paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:20:22 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/mur96-ifac.pdf + |
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Trajectory Generation for a Towed Cable System using Differential Flatness + | Title |
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