DocumentCode
490506
Title
Trajectory Planning for Approximately Feedback Linearized Systems
Author
Gwo, Eric C. ; Hauser, John
Author_Institution
Electrical Engineering-Systems, University of Southern California, Los Angeles, CA 90089-2563
fYear
1993
fDate
2-4 June 1993
Firstpage
2274
Lastpage
2278
Abstract
In this paper, we use B-splines to smooth a given desired trajectory so that it can be more effectively tracked by an approximately feedback linearized system. After choosing the order of B-splines and doing optimization, the resulting smooth approximate trajectory is close to the specified trajectory within a given allowance, and the aggressiveness of this approximate trajectory is minimized.
Keywords
Aircraft; Constraint optimization; Feedback; Frequency locked loops; Indium phosphide; Linear approximation; Path planning; Polynomials; Robots; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1993
Conference_Location
San Francisco, CA, USA
Print_ISBN
0-7803-0860-3
Type
conf
Filename
4793291
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