- Title
- Flatness-based minimum-time trajectory generation for constrained linear systems using B-Splines
- Creator
- Suryawan, Fajar; De Doná, José; Seron, María
- Relation
- 18th World Congress of the International Federation of Automatic Control, 2011 (IFAC 2011). Proceedings of the 18th World Congress of the International Federation of Automatic Control 2011 (Milano, Italy 28 August - 2 September, 2011) p. 6674-6679
- Publisher Link
- http://dx.doi.org/10.3182/20110828-6-IT-1002.03427
- Publisher
- International Federation of Automatic Control (IFAC)
- Resource Type
- conference paper
- Date
- 2011
- Description
- In this paper 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 parameterisation. Flat systems have the nice property that the input and the state trajectories can be completely characterised by the so-called flat output. We propose a splines parameterisation for the flat output, and the corresponding parameterisations for the performance output, the states, and the inputs. Using this parameterisation 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; constraints; B splines; flatness; trajectory generation
- Identifier
- http://hdl.handle.net/1959.13/1039784
- Identifier
- uon:13700
- Identifier
- ISBN:9783902661937
- Language
- eng
- Full Text
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