Real-time trajectory generation for flat systems with constraints

被引：0

作者：

von Löwis, J ^{[1
]}

Rudolph, J ^{[1
]}

机构：

[1] Tech Univ Dresden, Inst Regelungs & Steuerungstheorie, D-01062 Dresden, Germany

来源：

NONLINEAR AND ADAPTIVE CONTROL, NCN4 2001 | 2003年 / 281卷

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new real-time trajectory generation scheme for differentially flat systems with constraints is proposed. Differential flatness is exploited for both the construction of trajectories as well as for making sure the constructed trajectories satisfy the constraints of the system. The main feature of the approach is that rather good tracking for varying desired behaviour is possible. The reference trajectory is constructed by concatenating trajectory pieces the endpoints of which not necessarily correspond to equilibria. Special care has to be taken to make sure that such trajectory pieces can be continued without violating constraints.

引用

页码：385 / 394

页数：10

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