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
相关论文
共 50 条
  • [41] AUTOMATIC DIFFERENTIATION - PARALLEL COMPUTATION OF FUNCTION, GRADIENT, AND HESSIAN MATRIX
    FISCHER, H
    PARALLEL COMPUTING, 1990, 13 (01) : 101 - 110
  • [42] Sparse Jacobian computation in automatic differentiation by static program analysis
    Tadjouddine, M
    Eyssette, F
    Faure, C
    STATIC ANALYSIS, 1998, 1503 : 311 - 326
  • [43] Fast computation of derivatives in control -: An approach based on automatic differentiation
    Röbenack, K
    DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS, 2003, : 16 - 22
  • [44] An Automatic Parallelization Framework for Algebraic Computation Systems
    Li, Yue
    Dos Reis, Gabriel
    ISSAC 2011: PROCEEDINGS OF THE 36TH INTERNATIONAL SYMPOSIUM ON SYMBOLIC AND ALGEBRAIC COMPUTATION, 2011, : 233 - 240
  • [45] Computation of convergence radius and error bounds of Volterra series for multiple input systems with an analytic nonlinearity in state
    Helie, Thomas
    Laroche, Beatrice
    49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2010, : 3499 - 3504
  • [46] AUTOMATIC DIFFERENTIATION OF LARGE SPARSE SYSTEMS
    DIXON, LCW
    MAANY, Z
    MOHSENINIA, M
    JOURNAL OF ECONOMIC DYNAMICS & CONTROL, 1990, 14 (02): : 299 - 311
  • [47] Signal differentiation in automatic control systems
    Emel'yanov, S. V.
    Afanas'ev, A. P.
    AUTOMATION AND REMOTE CONTROL, 2015, 76 (12) : 2110 - 2123
  • [48] Signal differentiation in automatic control systems
    S. V. Emel’yanov
    A. P. Afanas’ev
    Automation and Remote Control, 2015, 76 : 2110 - 2123
  • [49] Optimal control of chaotic systems with input saturation using an input-state linearization scheme
    Fuh, Chyun-Chau
    COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION, 2009, 14 (08) : 3424 - 3431
  • [50] An approximate characterisation of the set of feasible trajectories for constrained flat systems
    Greco, Luca
    Mounier, Hugues
    Bekcheva, Maria
    Automatica, 2022, 144
12345