DocumentCode
2013827
Title
Approximate feedback linearization around a trajectory: application to trajectory planning
Author
Hauser, John ; Banaszuk, Andrzej
Author_Institution
Dept. of Electr. & Comput. Eng., Colorado Univ., Boulder, CO, USA
Volume
1
fYear
1997
fDate
10-12 Dec 1997
Firstpage
7
Abstract
In this paper, we consider the approximate feedback linearization of a nonlinear system with one input in a neighborhood of a trajectory. We obtain a normal form for the dynamics in a neighborhood of a given trajectory. The normal form can be used to find a more aggressive trajectory in a vicinity of the original trajectory. The process can be repeated several times, yielding an iterative procedure for designing aggressive trajectories. An example is given to illustrate the approach
Keywords
dynamics; feedback; iterative methods; linearisation techniques; nonlinear control systems; position control; tracking; approximate linearization; dynamics; feedback; iterative method; nonlinear control system; trajectory planning; Control systems; Feedback; Helicopters; Joining processes; Least squares approximation; Linear approximation; Manifolds; Nonlinear dynamical systems; Nonlinear systems; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.650579
Filename
650579
Link To Document