van Nieuwstadt, Michiel J. and Murray, Richard M. (1997) Real Time Trajectory Generation for Differentially Flat Systems. California Institute of Technology . (Unpublished) http://resolver.caltech.edu/CaltechCDSTR:1997.CIT-CDS-96-017
PDF (PDF - - Optimized for printing (3.1MB))
See Usage Policy.
See Usage Policy.
Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechCDSTR:1997.CIT-CDS-96-017
This paper considers the problem of real time trajectory generation and tracking for nonlinear control systems. We employ a two degree of freedom approach that separates the nonlinear tracking problem into real time trajectory generation followed by local (gain-scheduled) stabilization. The central problem which we consider is how to generate, possibly with some delay, a feasible state space and input trajectory in real time from an output trajectory that is given online. We propose two algorithms that solve the real time trajectory generation problem for differentially flat systems with (possibly non-minimum phase) zero dynamics. One is based on receding horizon point to point steering, the other allows additional minimization of a cost function. Both algorithms explicitly address the tradeoff between stability and performance and we prove convergence of the algorithms for a reasonable class of output trajectories. To illustrate the application of these techniques to physical systems, we present experimental results using a vectored thrust flight control experiment built at Caltech. A brief introduction to differentially flat systems and its relationship with feedback linearization is also included.
|Item Type:||Report or Paper (Technical Report)|
|Group:||Control and Dynamical Systems Technical Reports|
|Usage Policy:||You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.|
|Deposited By:||Imported from CaltechCDSTR|
|Deposited On:||15 Oct 2002|
|Last Modified:||18 Mar 2015 23:21|
Repository Staff Only: item control page