Splines and polynomial tools for flatness-based constrained motion planning

DOI10.1080/00207721.2010.549592MaRDI QIDQ5497424zbMATH OpenOpenAlexFDO

Authors Fajar Suryawan, José A. De Doná, María M. Seron

Publication date 4 February 2015

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207721.2010.549592

zbMATH Keywords

B-splinesflatnessmagnetic levitationmotion planningpolynomials

Mathematics Subject Classification ID

Numerical computation using splines (65D07) Technical applications of optics and electromagnetic theory (78A55)

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Cites work

• Flat output characterization for linear systems using polynomial matrices.
• Flatness and defect of non-linear systems: introductory theory and examples
• Linear and nonlinear state-space controllers for magnetic levitation
• LMIs for constrained polynomial interpolation with application in trajectory planning
• Modelling and control design for a magnetic levitation system
• Non-linear system control using a recurrent fuzzy neural network based on improved particle swarm optimisation

Cited in

(14)

• Kinematics and dynamics motion planning by polar piecewise interpolation and geometric considerations
• An approximate characterisation of the set of feasible trajectories for constrained flat systems
• LMIs for constrained polynomial interpolation with application in trajectory planning
• Integrated framework for constrained minimum-time trajectory generation, fault detection and reconfiguration: a case-study
• Minimum-time trajectory generation for constrained linear systems using flatness and B-splines
• Approximating planar, morphing curves with rigid-body linkages
• Trajectory parametrisation for a positive system: the biological clock example
• Hermite polynomials for iterative output replanning for flat systems affected by additive noise
• Solving robot trajectory planning problems with uniform cubic B‐splines
• Constrained reachability and trajectory generation for flat systems
• Trajectory planning/re-planning for satellite systems in rendezvous mission in the presence of actuator faults based on attainable efforts analysis
• Constrained anti-disturbance control for a quadrotor based on differential flatness
• Motion planning for flat systems using positive B-splines: an LMI approach
• Online optimisation-based backstepping control design with application to quadrotor

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