Constrained online trajectory planning for nonlinear flat SISO systems using a switched state variable filter

DOI10.1016/J.AUTOMATICA.2019.108583MaRDI QIDQ2280974zbMATH OpenOpenAlexFDO

Authors Steffen Joos, Matthias Bitzer, Roland Karrelmeyer, Knut Graichen

Publication date 19 December 2019

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2019.108583

zbMATH Keywords

state constraintsinput constraintsdifferentially flat systemsrealtimeconstrained trajectory planningminimum phase SISO systems

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Nonlinear systems in control theory (93C10) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

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Cites work

• scientific article; zbMATH DE number 5060482 (Why is no real title available?)
• A software framework for embedded nonlinear model predictive control using a gradient-based augmented Lagrangian approach (GRAMPC)
• Constrained reachability and trajectory generation for flat systems
• Feedforward control design for finite-time transition problems of non-linear MIMO systems under input constraints
• Flatness and defect of non-linear systems: introductory theory and examples
• Internal dynamics of flat nonlinear siso systems with respect to a non-flat output
• Minimum-time trajectory generation for constrained linear systems using flatness and B-splines
• Nonlinear filters for the generation of smooth trajectories
• Piecewise linear control systems. A computational approach
• Stability and Stabilizability of Switched Linear Systems: A Survey of Recent Results

Describes a project that uses

Uses Software

• GRAMPC

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