On discrete-time trajectory planning for state space exact linearizable systems

Author

Ferreira, Armando M. ; Agrawa, Sunil K.

Author_Institution

Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA

Volume

4

fYear

2000

fDate

2000

Firstpage

2829

Abstract

Models derived from first-principles are continuous in time, but digital computer control implementations utilize discrete-time models. For linear systems, there are well known methods to obtain an exact discrete-time model. For nonlinear systems, however, there is no general method available. State space exact feedback linearizable systems comprise a class of nonlinear systems that admit transformation to a linear form, based on which an approximate time discretization is possible. This paper deals with optimal planning for such systems

Keywords

digital control; discrete time systems; linearisation techniques; nonlinear control systems; path planning; state-space methods; digital computer control; discrete-time trajectory planning; exact discrete-time model; linear systems; nonlinear systems; optimal planning; state space exact feedback linearizable systems; Control systems; Digital control; Linear systems; Mechanical engineering; Nonlinear control systems; Nonlinear systems; State feedback; State-space methods; Trajectory; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.878727

Filename

878727