- Title
- Minimum-time trajectory generation for constrained linear systems using flatness and B-splines
- Creator
- Suryawan, Fajar; De Doná, José; Seron, María
- Relation
- International Journal of Control Vol. 84, Issue 9, p. 1565-1585
- Publisher Link
- http://dx.doi.org/10.1080/00207179.2011.618514
- Publisher
- Taylor & Francis
- Resource Type
- journal article
- Date
- 2011
- Description
- In this article, we discuss minimum-time trajectory generation for input-and-state constrained continuous-time LTI systems in the light of the notion of flatness and B-splines parametrisation. Flat systems have the useful property that the input and the state trajectories can be completely characterised by the (so-called) flat output. We propose a splines parametrisation for the flat output, and the corresponding parametrisations for the performance output, the states and the inputs. Using this parametrisation the problem of minimum-time constrained trajectory planning is cast into a feasibility-search problem in the splines control-point space, in which the constraint region is characterised by a polytope. A close approximation of the minimum-time trajectory is obtained by systematically searching the end-time that makes the constraint polytope to be minimally feasible.
- Subject
- minimum time control; input constraints; state constraints; B splines; differential flatness; trajectory generation
- Identifier
- http://hdl.handle.net/1959.13/1039808
- Identifier
- uon:13703
- Identifier
- ISSN:0020-7179
- Rights
- This is an electronic version of an article published in International Journal of Control, Vol.84, No.9 pp. 1565-1585 (2011). International Journal of Control is available online at: http://www.tandfonline.com/openurl?genre=article&issn=0020-7179&volume=84&issue=9&spage=1565
- Language
- eng
- Full Text
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