LMIs for constrained polynomial interpolation with application in trajectory planning

DOI10.1016/j.sysconle.2005.09.011zbMath1129.93460OpenAlexW2082261750MaRDI QIDQ2504686

Didier Henrion, Jean-Bernard Lasserre

Publication date: 25 September 2006

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2005.09.011

zbMATH Keywords

linear systemsLMItrajectory planningpolynomial interpolationpositive polynomialscomputer-aided control system designalgebraic/polynomial approach

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Related Items

An approximate characterisation of the set of feasible trajectories for constrained flat systems, Motion planning for flat systems using positive B-splines: an LMI approach, Trajectory tracking for a particle in elliptical billiards, Splines and polynomial tools for flatness-based constrained motion planning

Uses Software

• SeDuMi
• PolyX

Cites Work

• Fast projection methods for minimal design problems in linear system theory
• Flat output characterization for linear systems using polynomial matrices.
• Global Optimization with Polynomials and the Problem of Moments
• Polynomials that are positive on an interval
• Using SeDuMi 1.02, A Matlab toolbox for optimization over symmetric cones
• Continuous-time linear predictive control and flatness: A module-theoretic setting with examples
• Control of linear systems subject to input constraints: A polynomial approach.
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