Real-time trajectory generation for differentially flat systems

DOI10.1002/(SICI)1099-1239(199809)8:11%3C995::AID-RNC373%3E3.0.CO;2-WMaRDI QIDQ4218715zbMATH OpenOpenAlexFDO

Authors Michiel van Nieuwstadt, Richard M. Murray

Publication date 7 April 1999

Full work available at URL https://doi.org/10.1002/(sici)1099-1239(199809)8:11%3C995::aid-rnc373%3E3.0.co;2-w, https://resolver.caltech.edu/CaltechCDSTR:1997.CIT-CDS-96-017

zbMATH Keywords

feedbackflat systemsreceding horizon point to point steeringtracking motiontrajectory generation

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10) Stabilization of systems by feedback (93D15)

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• Computation of state and input trajectories for flat systems using automatic differentiation.
• New path-generation based receding-horizon formulation for constrained stabilization of nonlinear systems
• Hierarchical trajectory refinement for a class of nonlinear systems
• Trajectory generation of differentially flat systems
• Integrated framework for constrained minimum-time trajectory generation, fault detection and reconfiguration: a case-study
• Predictive control for trajectory tracking and decentralized navigation of multi-agent formations
• NTGsim: a graphical user interface and a 3D simulator for nonlinear trajectory generation methodology
• A Flatness-Based Iterative Method for Reference Trajectory Generation in Constrained NMPC
• Configuration flatness of Lagrangian control systems with fewer controls than degrees of freedom
• Trajectory-based theory for hybrid systems
• Constrained reachability and trajectory generation for flat systems
• scientific article; zbMATH DE number 1836494 (Why is no real title available?)
• Polynomial trajectory generation and tracking for linear systems
• Comparison of nonlinear control design techniques on a model of the Caltech ducted fan
• Optimal Control of Differentially Flat Systems is Surprisingly Easy
• Polynomial matrix approach to tracking control of non-linear systems
• Dynamic non-minimum phase compensation for SISO nonlinear, affine in the input systems
• Receding horizon time-optimal control for a class of differentially flat systems
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