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Approximate trajectory generation for differentially flat systems with zero dynamics

van Nieuwstadt, Michiel J. and Murray, Richard M. (1995) Approximate trajectory generation for differentially flat systems with zero dynamics. In: Proceedings of 1995 34th IEEE Conference on Decision and Control. Vol.4. IEEE , Piscataway, NJ, pp. 4224-4230. ISBN 0780326857. https://resolver.caltech.edu/CaltechAUTHORS:20190315-142358983

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Abstract

This paper describes algorithms to generate trajectories for differentially flat systems with zero dynamics. Zero dynamics in flat systems occur when the flat outputs are not the tracking outputs. This means that the output trajectories can be fully parametrized by the flat outputs, but that there is some additional freedom left. This freedom can be exploited to minimize a cost criterion. We parametrize the differentially flat outputs by basis functions, and solve for the parameters so as to track a prescribed trajectory approximately while minimizing a cost function. We give examples of such systems, and present simulations and experimental data. We focus on implementation issues and point out the computational cost involved in the various problems.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/cdc.1995.478902DOIArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 1995 IEEE. Research supported in part by NASA, by NSF Grant CMS-9502224 and AFOSR Grant F49620-95-1-0419.
Funders:
Funding AgencyGrant Number
NASAUNSPECIFIED
NSFCMS-9502224
Air Force Office of Scientific Research (AFOSR)F49620-95-1-0419
Subject Keywords:differential flatness, trajectory generation, nonlinear control, real time control
DOI:10.1109/cdc.1995.478902
Record Number:CaltechAUTHORS:20190315-142358983
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190315-142358983
Official Citation:M. J. van Nieuwstadt and R. M. Murray, "Approximate trajectory generation for differentially flat systems with zero dynamics," Proceedings of 1995 34th IEEE Conference on Decision and Control, New Orleans, LA, USA, 1995, pp. 4224-4230 vol.4. doi: 10.1109/CDC.1995.478902
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93880
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:15 Mar 2019 22:51
Last Modified:16 Nov 2021 17:01

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