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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.  +
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
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15 May 2016 06:20:22  +
URL
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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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