Flatness based trajectory planning for the shallow water equations
نویسندگان
چکیده
منابع مشابه
Numerical Techniques for the Shallow Water Equations
In this report we will discuss some numerical techniques for approximating the Shallow Water equations. In particular we will discuss finite difference schemes, adaptations of Roe’s approximate Riemann solver and the Q-Schemes of Bermudez & Vazquez with the objective of accurately approximating the solution of the Shallow Water equations. We consider four different test problems for the Shallow...
متن کاملSingular solutions for the shallow-water equations
The method of weak asymptotics is used to find singular solutions of the shallow-water system which can contain Dirac-δ distributions (Espinosa & Omel’yanov, 2005). Complex-valued approximations which become real-valued in the distributional limit are shown to extend the range of possible singular solutions. It is shown, in this paper, how this approach can be used to construct solutions contai...
متن کاملShallow Water Equations
where an denotes a vertical acceleration of the fluid, e.g., due to gravity. This formulation can be derived from the NS equations by, most importantly, assuming a hydrostatic pressure along the direction of gravity. Interested readers can find a detailed derivation of these euqations in Section A. In the following sections we will first explain how to solve these equations with a basic solver,...
متن کاملPushing revisited: Differential flatness, trajectory planning and stabilization
We prove that quasi-static pushing with a sticking contact and ellipsoid approximation of the limit surface is differentially flat. Both graphical and algebraic derivations are given. A major conclusion is the pusher-slider system is reducible to the Dubins car problem where the sticking contact constraints translate to bounded curvature. Planning is as easy as computing Dubins curves with the ...
متن کاملFlatness Based Trajectory Generation of Quantum Systems
A two-states quantum system with one control is proved to be flat. This provides a simple procedure to design smooth open-loop controls that steer in finite time from one eigen-state to the other one. A three-states quantum system with one control is not flat in general. Following the Rabi oscillations used by physicists to control stimulated transition, we associate to this system an averaged ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: PAMM
سال: 2010
ISSN: 1617-7061
DOI: 10.1002/pamm.201010301