Title :
Optimal input design for flat systems using B-splines
Author :
Van Loock, W. ; Pipeleers, G. ; Swevers, J.
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ. Leuven, Leuven, Belgium
fDate :
June 29 2011-July 1 2011
Abstract :
This paper deals with optimal design of input signals for linear, controllable systems, by means of their flat output. The flat output is parametrized by a polynomial spline and a linear problem is formulated in which both the spline coefficients and the knot locations are found simultaneously. Conservative constraints on the spline coefficients ensure that semi-infinite bounds are never violated and numerical results show that the amount of conservatism is little.
Keywords :
control system synthesis; optimal systems; path planning; polynomials; splines (mathematics); b-splines; conservative constraint; controllable systems; flat system; input signals; knot locations; linear problem; optimal input design; polynomial spline; semi infinite bound; spline coefficients; Acceleration; Cranes; Differential equations; Optimization; Polynomials; Spline; Trajectory;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991444
