Computation of state and input trajectories for flat systems using automatic differentiation

被引：4
|
作者：
Röbenack, K
Vogel, O
机构：
[1] Tech Univ Dresden, Fak Elektrotech & Informationstech, D-01062 Dresden, Germany
[2] Tech Univ Dresden, Fak Math & Naturwissensch, Inst Wissensch Rechnen, D-01062 Dresden, Germany
来源：
AUTOMATICA | 2004年 / 40卷 / 03期
关键词：
automatic differentiation; Taylor series; system inversion; descriptor systems;
D O I：
10.1016/j.automatica.2003.10.018
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For path planning and trajectory tracking it is necessary to find an input signal for a given output signal, i.e., it is useful to invert the plants model (system inversion). Up to now, system inversion was practical only for simple systems due to the amount of symbolical computations involved. The inversion of flat state-space systems using automatic differentiation will be discussed. (C) 2003 Elsevier Ltd. All rights reserved.
引用
收藏
页码：459 / 464
页数：6
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